mirror of https://github.com/ArduPilot/ardupilot
281 lines
8.1 KiB
Plaintext
281 lines
8.1 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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long 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 400
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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 = constrain(g.pi_nav_lat.get_pi(y_rate_error, dTnav), -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 = constrain(g.pi_nav_lon.get_pi(x_rate_error, dTnav), -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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// 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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0 1 2 3 4 5 6 7 8
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...|...|...|...|...|...|...|...|
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100 200 300 400
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+|+
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*/
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max_speed = min(max_speed, (wp_distance * 50));
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// XXX target_angle should be the original desired target angle!
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float temp = radians((original_target_bearing - g_gps->ground_course)/100.0);
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x_actual_speed = -sin(temp) * (float)g_gps->ground_speed;
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x_rate_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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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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/*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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// 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 long 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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/*
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static void calc_altitude_smoothing_error()
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{
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// limit climb rates - we draw a straight line between first location and edge of waypoint_radius
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target_altitude = next_WP.alt - ((float)(wp_distance * (next_WP.alt - prev_WP.alt)) / (float)(wp_totalDistance - g.waypoint_radius));
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// stay within a certain range
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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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altitude_error = target_altitude - current_loc.alt;
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}
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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 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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static 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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/*
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static long 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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long _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 long cross_track_test()
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{
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long 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 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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// distance is returned in meters
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static long 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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static 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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static 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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