mirror of https://github.com/ArduPilot/ardupilot
347 lines
10 KiB
Plaintext
347 lines
10 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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static byte navigate()
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{
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if(next_WP.lat == 0){
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return 0;
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}
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// waypoint distance from plane
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// ----------------------------
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wp_distance = get_distance(¤t_loc, &next_WP);
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if (wp_distance < 0){
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//gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
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//Serial.println(wp_distance,DEC);
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//print_current_waypoints();
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return 0;
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}
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// target_bearing is where we should be heading
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// --------------------------------------------
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target_bearing = get_bearing(¤t_loc, &next_WP);
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return 1;
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}
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static bool check_missed_wp()
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{
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int32_t temp = target_bearing - original_target_bearing;
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temp = wrap_180(temp);
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return (abs(temp) > 10000); //we pased the waypoint by 10 °
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}
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// ------------------------------
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// long_error, lat_error
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static void calc_location_error(struct Location *next_loc)
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{
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/*
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Becuase we are using lat and lon to do our distance errors here's a quick chart:
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100 = 1m
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1000 = 11m = 36 feet
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1800 = 19.80m = 60 feet
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3000 = 33m
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10000 = 111m
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pitch_max = 22° (2200)
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*/
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// X ROLL
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long_error = (float)(next_loc->lng - current_loc.lng) * scaleLongDown; // 500 - 0 = 500 roll EAST
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// Y PITCH
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lat_error = next_loc->lat - current_loc.lat; // 0 - 500 = -500 pitch NORTH
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}
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#define NAV_ERR_MAX 800
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static void calc_loiter(int x_error, int y_error)
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{
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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int x_target_speed = g.pi_loiter_lon.get_pi(x_error, dTnav);
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int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav);
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// find the rates:
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float temp = radians((float)g_gps->ground_course/100.0);
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#ifdef OPTFLOW_ENABLED
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// calc the cos of the error to tell how fast we are moving towards the target in cm
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if(g.optflow_enabled && current_loc.alt < 500 && g_gps->ground_speed < 150){
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x_actual_speed = optflow.vlon * 10;
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y_actual_speed = optflow.vlat * 10;
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}else{
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x_actual_speed = (float)g_gps->ground_speed * sin(temp);
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y_actual_speed = (float)g_gps->ground_speed * cos(temp);
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}
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#else
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x_actual_speed = (float)g_gps->ground_speed * sin(temp);
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y_actual_speed = (float)g_gps->ground_speed * cos(temp);
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#endif
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y_rate_error = y_target_speed - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum
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nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
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nav_lat = constrain(nav_lat, -3500, 3500);
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x_rate_error = x_target_speed - x_actual_speed;
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x_rate_error = constrain(x_rate_error, -250, 250);
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nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
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nav_lon = constrain(nav_lon, -3500, 3500);
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}
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static void calc_loiter2(int x_error, int y_error)
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{
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static int last_x_error = 0;
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static int last_y_error = 0;
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x_error = constrain(x_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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y_error = constrain(y_error, -NAV_ERR_MAX, NAV_ERR_MAX);
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int x_target_speed = g.pi_loiter_lon.get_pi(x_error, dTnav);
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int y_target_speed = g.pi_loiter_lat.get_pi(y_error, dTnav);
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// find the rates:
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x_actual_speed = (float)(last_x_error - x_error)/dTnav;
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y_actual_speed = (float)(last_y_error - y_error)/dTnav;
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// save speeds
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last_x_error = x_error;
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last_y_error = y_error;
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y_rate_error = y_target_speed - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -250, 250); // added a rate error limit to keep pitching down to a minimum
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nav_lat = g.pi_nav_lat.get_pi(y_rate_error, dTnav);
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nav_lat = constrain(nav_lat, -3500, 3500);
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x_rate_error = x_target_speed - x_actual_speed;
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x_rate_error = constrain(x_rate_error, -250, 250);
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nav_lon = g.pi_nav_lon.get_pi(x_rate_error, dTnav);
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nav_lon = constrain(nav_lon, -3500, 3500);
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}
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// nav_roll, nav_pitch
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static void calc_loiter_pitch_roll()
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{
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//float temp = radians((float)(9000 - (dcm.yaw_sensor))/100.0);
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//float _cos_yaw_x = cos(temp);
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//float _sin_yaw_y = sin(temp);
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//Serial.printf("ys %ld, cx %1.4f, _cx %1.4f | sy %1.4f, _sy %1.4f\n", dcm.yaw_sensor, cos_yaw_x, _cos_yaw_x, sin_yaw_y, _sin_yaw_y);
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// rotate the vector
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nav_roll = (float)nav_lon * sin_yaw_y - (float)nav_lat * cos_yaw_x;
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nav_pitch = (float)nav_lon * cos_yaw_x + (float)nav_lat * sin_yaw_y;
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// flip pitch because forward is negative
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nav_pitch = -nav_pitch;
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}
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static void calc_nav_rate(int max_speed)
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{
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/*
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|< WP Radius
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0 1 2 3 4 5 6 7 8m
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...|...|...|...|...|...|...|...|
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100 | 200 300 400cm/s
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| +|+
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|< we should slow to 1.5 m/s as we hit the target
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*/
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// max_speed is default 400 or 4m/s
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// (wp_distance * 50) = 1/2 of the distance converted to speed
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// wp_distance is always in m/s and not cm/s - I know it's stupid that way
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// for example 4m from target = 200cm/s speed
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// we choose the lowest speed based on disance
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max_speed = min(max_speed, (wp_distance * 50));
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// limit the ramp up of the speed
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// waypoint_speed_gov is reset to 0 at each new WP command
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if(waypoint_speed_gov < max_speed){
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waypoint_speed_gov += (int)(100.0 * dTnav); // increase at 1.5/ms
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// go at least 50cm/s
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max_speed = max(50, waypoint_speed_gov);
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// limit with governer
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max_speed = min(max_speed, waypoint_speed_gov);
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}
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// XXX target_angle should be the original desired target angle!
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float temp = radians((target_bearing - g_gps->ground_course)/100.0);
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// push us towards the original track
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update_crosstrack();
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// heading laterally, we want a zero speed here
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x_actual_speed = -sin(temp) * (float)g_gps->ground_speed;
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x_rate_error = crosstrack_error -x_actual_speed;
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x_rate_error = constrain(x_rate_error, -800, 800);
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nav_lon = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -3500, 3500);
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// heading towards target
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y_actual_speed = cos(temp) * (float)g_gps->ground_speed;
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y_rate_error = max_speed - y_actual_speed; // 413
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y_rate_error = constrain(y_rate_error, -800, 800); // added a rate error limit to keep pitching down to a minimum
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nav_lat = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -3500, 3500);
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// 400cm/s * 3 = 1200 or 12 deg pitch
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// 800cm/s * 3 = 2400 or 24 deg pitch MAX
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// nav_lat and nav_lon will be rotated to the angle of the quad in calc_nav_pitch_roll()
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/*Serial.printf("max_speed: %d, xspeed: %d, yspeed: %d, x_re: %d, y_re: %d, nav_lon: %ld, nav_lat: %ld ",
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max_speed,
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x_actual_speed,
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y_actual_speed,
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x_rate_error,
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y_rate_error,
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nav_lon,
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nav_lat);*/
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}
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static void update_crosstrack(void)
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{
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// Crosstrack Error
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// ----------------
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if (cross_track_test() < 5000) { // If we are too far off or too close we don't do track following
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crosstrack_error = sin(radians((target_bearing - original_target_bearing) / 100)) * wp_distance; // Meters we are off track line
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crosstrack_error = constrain(crosstrack_error * 4, -1200, 1200);
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}
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}
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static long cross_track_test()
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{
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long temp = target_bearing - original_target_bearing;
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temp = wrap_180(temp);
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return abs(temp);
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}
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// nav_roll, nav_pitch
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static void calc_nav_pitch_roll()
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{
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float temp = radians((float)(9000 - (dcm.yaw_sensor - original_target_bearing))/100.0);
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float _cos_yaw_x = cos(temp);
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float _sin_yaw_y = sin(temp);
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// rotate the vector
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nav_roll = (float)nav_lon * _sin_yaw_y - (float)nav_lat * _cos_yaw_x;
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nav_pitch = (float)nav_lon * _cos_yaw_x + (float)nav_lat * _sin_yaw_y;
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// flip pitch because forward is negative
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nav_pitch = -nav_pitch;
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/*Serial.printf("_cos_yaw_x:%1.4f, _sin_yaw_y:%1.4f, nav_roll:%ld, nav_pitch:%ld\n",
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_cos_yaw_x,
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_sin_yaw_y,
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nav_roll,
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nav_pitch);*/
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}
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static int32_t get_altitude_error()
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{
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return next_WP.alt - current_loc.alt;
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}
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/*static int get_loiter_angle()
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{
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float power;
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int angle;
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if(wp_distance <= g.loiter_radius){
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power = float(wp_distance) / float(g.loiter_radius);
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power = constrain(power, 0.5, 1);
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angle = 90.0 * (2.0 + power);
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}else if(wp_distance < (g.loiter_radius + LOITER_RANGE)){
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power = -((float)(wp_distance - g.loiter_radius - LOITER_RANGE) / LOITER_RANGE);
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power = constrain(power, 0.5, 1); //power = constrain(power, 0, 1);
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angle = power * 90;
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}
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return angle;
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}*/
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static int32_t wrap_360(int32_t error)
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{
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if (error > 36000) error -= 36000;
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if (error < 0) error += 36000;
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return error;
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}
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static int32_t wrap_180(int32_t error)
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{
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if (error > 18000) error -= 36000;
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if (error < -18000) error += 36000;
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return error;
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}
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/*
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static int32_t get_crosstrack_correction(void)
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{
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// Crosstrack Error
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// ----------------
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if (cross_track_test() < 9000) { // If we are too far off or too close we don't do track following
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// Meters we are off track line
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float error = sin(radians((target_bearing - crosstrack_bearing) / (float)100)) * (float)wp_distance;
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// take meters * 100 to get adjustment to nav_bearing
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int32_t _crosstrack_correction = g.pi_crosstrack.get_pi(error, dTnav) * 100;
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// constrain answer to 30° to avoid overshoot
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return constrain(_crosstrack_correction, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
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}
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return 0;
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}
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*/
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/*
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static int32_t cross_track_test()
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{
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int32_t temp = wrap_180(target_bearing - crosstrack_bearing);
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return abs(temp);
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}
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*/
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/*
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static void reset_crosstrack()
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{
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crosstrack_bearing = get_bearing(¤t_loc, &next_WP); // Used for track following
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}
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*/
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/*static int32_t get_altitude_above_home(void)
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{
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// This is the altitude above the home location
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// The GPS gives us altitude at Sea Level
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// if you slope soar, you should see a negative number sometimes
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// -------------------------------------------------------------
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return current_loc.alt - home.alt;
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}
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*/
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// distance is returned in meters
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static int32_t get_distance(struct Location *loc1, struct Location *loc2)
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{
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//if(loc1->lat == 0 || loc1->lng == 0)
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// return -1;
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//if(loc2->lat == 0 || loc2->lng == 0)
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// return -1;
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float dlat = (float)(loc2->lat - loc1->lat);
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float dlong = ((float)(loc2->lng - loc1->lng)) * scaleLongDown;
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return sqrt(sq(dlat) + sq(dlong)) * .01113195;
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}
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/*
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static int32_t get_alt_distance(struct Location *loc1, struct Location *loc2)
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{
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return abs(loc1->alt - loc2->alt);
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}
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*/
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static int32_t get_bearing(struct Location *loc1, struct Location *loc2)
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{
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int32_t off_x = loc2->lng - loc1->lng;
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int32_t off_y = (loc2->lat - loc1->lat) * scaleLongUp;
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int32_t bearing = 9000 + atan2(-off_y, off_x) * 5729.57795;
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if (bearing < 0) bearing += 36000;
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return bearing;
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}
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