mirror of https://github.com/ArduPilot/ardupilot
242 lines
7.0 KiB
Plaintext
242 lines
7.0 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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//****************************************************************
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// Function that will calculate the desired direction to fly and altitude error
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//****************************************************************
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void navigate()
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{
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// do not navigate with corrupt data
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// ---------------------------------
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if (gps.fix == 0)
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{
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gps.new_data = false;
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return;
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}
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if(next_WP.lat == 0){
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return;
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}
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// We only perform most nav computations if we have new gps data to work with
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// --------------------------------------------------------------------------
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if(gps.new_data){
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gps.new_data = false;
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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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// nav_bearing will includes xtrac correction
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// ------------------------------------------
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nav_bearing = target_bearing;
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// waypoint distance from plane
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// ----------------------------
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wp_distance = getDistance(¤t_loc, &next_WP);
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if (wp_distance < 0){
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gcs.send_text(SEVERITY_HIGH,"<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;
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}
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// check if we have missed the WP
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loiter_delta = (target_bearing - old_target_bearing)/100;
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// reset the old value
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old_target_bearing = target_bearing;
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// wrap values
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if (loiter_delta > 180) loiter_delta -= 360;
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if (loiter_delta < -180) loiter_delta += 360;
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loiter_sum += abs(loiter_delta);
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calc_bearing_error();
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// control mode specific updates to nav_bearing
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update_navigation();
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}
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}
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void update_navigation()
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{
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// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
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// ------------------------------------------------------------------------
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// distance and bearing calcs only
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if(control_mode == AUTO){
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verify_must();
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verify_may();
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}else{
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switch(control_mode){
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case LOITER:
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update_loiter();
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calc_bearing_error();
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break;
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case RTL:
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if(wp_distance <= (get(PARAM_LOITER_RADIUS)) + LOITER_RANGE) {
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set_mode(LOITER);
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}else{
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update_crosstrack();
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}
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break;
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}
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}
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}
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/*
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Disabled for now
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void calc_distance_error()
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{
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//distance_estimate += (float)gps.ground_speed * .0002 * cos(radians(bearing_error * .01));
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//distance_estimate -= DST_EST_GAIN * (float)(distance_estimate - GPS_wp_distance);
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//wp_distance = max(distance_estimate,10);
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}
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*/
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void calc_airspeed_errors()
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{
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if(control_mode>=AUTO && airspeed_nudge > 0) {
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airspeed_error = get(PARAM_TRIM_AIRSPEED) + airspeed_nudge - airspeed;
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airspeed_energy_error = (long)(((long)(get(PARAM_TRIM_AIRSPEED) + airspeed_nudge) * (long)(get(PARAM_TRIM_AIRSPEED) + airspeed_nudge)) - ((long)airspeed * (long)airspeed))/20000; //Changed 0.00005f * to / 20000 to avoid floating point calculation
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} else {
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airspeed_error = get(PARAM_TRIM_AIRSPEED) - airspeed;
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airspeed_energy_error = (long)(((long)get(PARAM_TRIM_AIRSPEED) * (long)get(PARAM_TRIM_AIRSPEED)) - ((long)airspeed * (long)airspeed))/20000; //Changed 0.00005f * to / 20000 to avoid floating point calculation
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}
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}
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void calc_bearing_error()
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{
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if(takeoff_complete == true || MAGNETOMETER == ENABLED) {
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bearing_error = nav_bearing - dcm.yaw_sensor;
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} else {
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bearing_error = nav_bearing - gps.ground_course;
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}
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bearing_error = wrap_180(bearing_error);
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}
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void calc_altitude_error()
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{
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// limit climb rates
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target_altitude = next_WP.alt - (long)(((float)((wp_distance -30) * offset_altitude) / (float)(wp_totalDistance - 30)));
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if(prev_WP.alt > next_WP.alt){
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target_altitude = constrain(target_altitude, next_WP.alt, prev_WP.alt);
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}else{
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target_altitude = constrain(target_altitude, prev_WP.alt, next_WP.alt);
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}
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/*
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// Disabled for now
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#if AIRSPEED_SENSOR == 1
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// special thanks to Ryan Beall for this one
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float pitch_angle = pitch_sensor - AOA; // pitch_angle = pitch sensor - angle of attack of your plane at level *100 (50 = .5°)
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pitch_angle = constrain(pitch_angle, -2000, 2000);
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float scale = sin(radians(pitch_angle * .01));
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altitude_estimate += (float)airspeed * .0002 * scale;
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altitude_estimate -= ALT_EST_GAIN * (float)(altitude_estimate - current_loc.alt);
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// compute altitude error for throttle control
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altitude_error = target_altitude - altitude_estimate;
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#else
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altitude_error = target_altitude - current_loc.alt;
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#endif
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*/
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altitude_error = target_altitude - current_loc.alt;
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}
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long wrap_360(long 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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long wrap_180(long 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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void update_loiter()
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{
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float power;
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if (wp_distance <= get(PARAM_LOITER_RADIUS)){
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power = float(wp_distance) / float(get(PARAM_LOITER_RADIUS));
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nav_bearing += (int)(9000.0 * (2.0 + power));
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} else if (wp_distance < (get(PARAM_LOITER_RADIUS) + LOITER_RANGE)){
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power = -((float)(wp_distance - get(PARAM_LOITER_RADIUS) - LOITER_RANGE) / LOITER_RANGE);
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power = constrain(power, 0, 1);
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nav_bearing -= power * 9000;
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} else {
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update_crosstrack();
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}
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nav_bearing = wrap_360(nav_bearing);
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/* loiter_delta = (target_bearing - old_target_bearing)/100;
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// reset the old value
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old_target_bearing = target_bearing;
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// wrap values
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if (loiter_delta > 170) loiter_delta -= 360;
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if (loiter_delta < -170) loiter_delta += 360;
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loiter_sum += loiter_delta;
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*/
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}
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void update_crosstrack(void)
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{
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// Crosstrack Error
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// ----------------
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if (abs(target_bearing - crosstrack_bearing) < 4500) { // 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 - crosstrack_bearing)/100)) * wp_distance; // Meters we are off track line
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nav_bearing += constrain(crosstrack_error * get(PARAM_XTRACK_GAIN), -get(PARAM_XTRACK_ANGLE), get(PARAM_XTRACK_ANGLE));
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nav_bearing = wrap_360(nav_bearing);
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}
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}
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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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long 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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long getDistance(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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long 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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long get_bearing(struct Location *loc1, struct Location *loc2)
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{
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long off_x = loc2->lng - loc1->lng;
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long off_y = (loc2->lat - loc1->lat) * scaleLongUp;
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long 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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