mirror of https://github.com/ArduPilot/ardupilot
151 lines
4.0 KiB
Plaintext
151 lines
4.0 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 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 (g_gps->fix == 0)
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{
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g_gps->new_data = false;
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return;
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}
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#if HIL_MODE != HIL_MODE_ATTITUDE
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if((next_WP.lat == 0)||(home_is_set==false)){
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#else
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if(next_WP.lat == 0){
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#endif
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return;
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}
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if(control_mode < INITIALISING) {
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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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return;
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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_cd(¤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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// 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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}
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// control mode specific updates to nav_bearing
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// --------------------------------------------
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update_navigation();
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}
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#if 0
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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)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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#endif
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static void calc_gndspeed_undershoot()
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{
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if (g_gps->status() == GPS::GPS_OK) {
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// Function is overkill, but here in case we want to add filtering later
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groundspeed_undershoot = (g.min_gndspeed > 0) ? (g.min_gndspeed - ground_speed) : 0;
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}
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}
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static void calc_bearing_error()
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{
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bearing_error = nav_bearing - ground_course;
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bearing_error = wrap_180(bearing_error);
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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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static void update_loiter()
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{
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float power;
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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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nav_bearing += (int)(9000.0 * (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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nav_bearing -= power * 9000;
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}else{
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update_crosstrack();
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loiter_time = millis(); // keep start time for loiter updating till we get within LOITER_RANGE of orbit
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}
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/*
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if (wp_distance < g.loiter_radius){
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nav_bearing += 9000;
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}else{
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nav_bearing -= 100 * M_PI / 180 * asin(g.loiter_radius / wp_distance);
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}
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update_crosstrack();
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*/
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nav_bearing = wrap_360(nav_bearing);
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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 (abs(wrap_180(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) / (float)100)) * (float)wp_distance; // Meters we are off track line
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nav_bearing += constrain(crosstrack_error * g.crosstrack_gain, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
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nav_bearing = wrap_360(nav_bearing);
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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_cd(&prev_WP, &next_WP); // Used for track following
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}
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void reached_waypoint()
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{
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}
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