mirror of https://github.com/ArduPilot/ardupilot
612 lines
20 KiB
Plaintext
612 lines
20 KiB
Plaintext
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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// update_navigation - invokes navigation routines
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// called at 10hz
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static void update_navigation()
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{
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static uint32_t nav_last_update = 0; // the system time of the last time nav was run update
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// check for inertial nav updates
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if( inertial_nav.position_ok() ) {
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// calculate time since nav controllers last ran
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dTnav = (float)(millis() - nav_last_update)/ 1000.0f;
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nav_last_update = millis();
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// prevent runnup in dTnav value
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dTnav = min(dTnav, 1.0f);
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// run the navigation controllers
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update_nav_mode();
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// update log
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if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()) {
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Log_Write_Nav_Tuning();
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}
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}
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}
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// run_nav_updates - top level call for the autopilot
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// ensures calculations such as "distance to waypoint" are calculated before autopilot makes decisions
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// To-Do - rename and move this function to make it's purpose more clear
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static void run_nav_updates(void)
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{
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// fetch position from inertial navigation
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calc_position();
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// check altitude vs target
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verify_altitude();
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// calculate distance and bearing for reporting and autopilot decisions
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calc_distance_and_bearing();
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// run autopilot to make high level decisions about control modes
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run_autopilot();
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}
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// calc_position - get lat and lon positions from inertial nav library
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static void calc_position(){
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if( inertial_nav.position_ok() ) {
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// pull position from interial nav library
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current_loc.lng = inertial_nav.get_longitude();
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current_loc.lat = inertial_nav.get_latitude();
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}
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}
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// calc_distance_and_bearing - calculate distance and direction to waypoints for reporting and autopilot decisions
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static void calc_distance_and_bearing()
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{
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// get current position
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Vector2f curr_pos(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
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Vector2f dest;
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// get target from loiter or wpinav controller
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if( nav_mode == NAV_LOITER || nav_mode == NAV_CIRCLE ) {
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dest.x = loiter_lat_from_home_cm;
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dest.y = loiter_lon_from_home_cm;
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}else if( nav_mode == NAV_WP ) {
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dest.x = wpinav_destination.x;
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dest.y = wpinav_destination.y;
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}else{
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dest = curr_pos;
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}
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// calculate distance to target
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lat_error = dest.x - curr_pos.x;
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lon_error = dest.y - curr_pos.y;
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wp_distance = safe_sqrt(lat_error*lat_error+lon_error*lon_error);
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// calculate waypoint bearing
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// To-Do: change this to more efficient calculation
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if( waypoint_valid(next_WP) ) {
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wp_bearing = get_bearing_cd(¤t_loc, &next_WP);
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}else{
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wp_bearing = 0;
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}
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// calculate home distance and bearing
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if( ap.home_is_set ) {
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home_distance = safe_sqrt(curr_pos.x*curr_pos.x + curr_pos.y*curr_pos.y);
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// To-Do: change this to more efficient calculation
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home_bearing = get_bearing_cd(¤t_loc, &home);
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// update super simple bearing (if required) because it relies on home_bearing
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update_super_simple_bearing();
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}else{
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home_distance = 0;
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home_bearing = 0;
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}
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// calculate bearing to target (used when yaw_mode = YAW_LOOK_AT_LOCATION)
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// To-Do: move this to the look-at-waypoint yaw controller
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if( waypoint_valid(yaw_look_at_WP) ) {
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yaw_look_at_WP_bearing = get_bearing_cd(¤t_loc, &yaw_look_at_WP);
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}
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}
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// run_autopilot - highest level call to process mission commands
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static void run_autopilot()
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{
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switch( control_mode ) {
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case AUTO:
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// majority of command logic is in commands_logic.pde
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verify_commands();
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break;
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case GUIDED:
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// switch to loiter once we've reached the target location and altitude
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// To-Do: this incorrectly checks verify_nav_wp even though the nav mode may be NAV_LOITER
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if(verify_nav_wp()) {
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set_nav_mode(NAV_LOITER);
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}
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case RTL:
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verify_RTL();
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break;
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}
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}
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// set_nav_mode - update nav mode and initialise any variables as required
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static bool set_nav_mode(uint8_t new_nav_mode)
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{
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// boolean to ensure proper initialisation of nav modes
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bool nav_initialised = false;
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// return immediately if no change
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if( new_nav_mode == nav_mode ) {
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return true;
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}
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switch( new_nav_mode ) {
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case NAV_NONE:
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nav_initialised = true;
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break;
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case NAV_CIRCLE:
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// set center of circle to current position
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circle_set_center(Vector2f(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff()), ahrs.yaw);
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nav_initialised = true;
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break;
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case NAV_LOITER:
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// set target to current position
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loiter_set_target(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
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nav_initialised = true;
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break;
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case NAV_WP:
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nav_initialised = true;
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break;
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}
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// if initialisation has been successful update the yaw mode
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if( nav_initialised ) {
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nav_mode = new_nav_mode;
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}
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// return success or failure
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return nav_initialised;
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}
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// update_nav_mode - run navigation controller based on nav_mode
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static void update_nav_mode()
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{
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switch( nav_mode ) {
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case NAV_NONE:
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// do nothing
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break;
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case NAV_CIRCLE:
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// call circle controller which in turn calls loiter controller
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circle_get_pos(dTnav);
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break;
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case NAV_LOITER:
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get_loiter_pos_lat_lon(loiter_lat_from_home_cm, loiter_lon_from_home_cm, 0.1f);
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break;
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case NAV_WP:
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// move forward on the waypoint
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// To-Do: slew up the speed to the max waypoint speed instead of immediately jumping to max
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wpinav_advance_track_desired(g.waypoint_speed_max, dTnav);
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// run the navigation controller
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get_wpinav_pos(dTnav);
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break;
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}
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/*
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// To-Do: check that we haven't broken toy mode
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case TOY_A:
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case TOY_M:
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set_nav_mode(NAV_NONE);
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update_nav_wp();
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break;
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}
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*/
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}
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static bool check_missed_wp()
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{
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int32_t temp;
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temp = wp_bearing - original_wp_bearing;
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temp = wrap_180_cd(temp);
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return (labs(temp) > 9000); // we passed the waypoint by 90 degrees
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}
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static void force_new_altitude(int32_t new_alt)
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{
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next_WP.alt = new_alt;
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set_alt_change(REACHED_ALT);
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}
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static void set_new_altitude(int32_t new_alt)
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{
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// if no change exit immediately
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if(new_alt == next_WP.alt) {
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return;
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}
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// update new target altitude
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next_WP.alt = new_alt;
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if(next_WP.alt > (current_loc.alt + 80)) {
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// we are below, going up
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set_alt_change(ASCENDING);
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}else if(next_WP.alt < (current_loc.alt - 80)) {
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// we are above, going down
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set_alt_change(DESCENDING);
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}else{
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// No Change
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set_alt_change(REACHED_ALT);
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}
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}
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// verify_altitude - check if we have reached the target altitude
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static void verify_altitude()
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{
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if(alt_change_flag == ASCENDING) {
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// we are below, going up
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if(current_loc.alt > next_WP.alt - 50) {
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set_alt_change(REACHED_ALT);
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}
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}else if (alt_change_flag == DESCENDING) {
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// we are above, going down
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if(current_loc.alt <= next_WP.alt + 50){
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set_alt_change(REACHED_ALT);
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}
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}
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}
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// Keeps old data out of our calculation / logs
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static void reset_nav_params(void)
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{
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// Will be set by new command
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wp_bearing = 0;
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// Will be set by new command
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wp_distance = 0;
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// Will be set by nav or loiter controllers
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lon_error = 0;
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lat_error = 0;
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nav_lon = 0;
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nav_lat = 0;
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nav_roll = 0;
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nav_pitch = 0;
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auto_roll = 0;
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auto_pitch = 0;
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}
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// get_yaw_slew - reduces rate of change of yaw to a maximum
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// assumes it is called at 100hz so centi-degrees and update rate cancel each other out
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static int32_t get_yaw_slew(int32_t current_yaw, int32_t desired_yaw, int16_t deg_per_sec)
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{
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return wrap_360_cd(current_yaw + constrain(wrap_180_cd(desired_yaw - current_yaw), -deg_per_sec, deg_per_sec));
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}
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// valid_waypoint - checks if a waypoint has been initialised or not
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static bool waypoint_valid(Location &wp)
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{
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if( wp.lat != 0 || wp.lng != 0 ) {
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return true;
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}else{
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return false;
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}
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}
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////////////////////////////////////////////////////
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// Loiter controller using inertial nav
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////////////////////////////////////////////////////
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// get_loiter_accel - loiter acceration controllers with desired accelerations provided in forward/right directions in cm/s/s
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static void
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get_loiter_accel(int16_t accel_req_forward, int16_t accel_req_right)
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{
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float z_accel_meas = -GRAVITY_MSS * 100; // gravity in cm/s/s
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// update angle targets that will be passed to stabilize controller
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auto_roll = constrain((accel_req_right/(-z_accel_meas))*(18000/M_PI), -4500, 4500);
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auto_pitch = constrain((-accel_req_forward/(-z_accel_meas*cos_roll_x))*(18000/M_PI), -4500, 4500);
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}
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// get_loiter_accel_lat_lon - loiter acceration controller with desired accelerations provided in lat/lon directions in cm/s/s
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static void
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get_loiter_accel_lat_lon(int16_t accel_lat, int16_t accel_lon)
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{
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float accel_forward;
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float accel_right;
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accel_forward = accel_lat*cos_yaw + accel_lon*sin_yaw;
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accel_right = -accel_lat*sin_yaw + accel_lon*cos_yaw;
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get_loiter_accel(accel_forward, accel_right);
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}
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// get_loiter_vel_lat_lon - loiter velocity controller with desired velocity provided in lat/lon directions in cm/s
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#define MAX_LOITER_VEL_ACCEL 400 // should be 1.5 times larger than MAX_LOITER_POS_ACCEL
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static void
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get_loiter_vel_lat_lon(int16_t vel_lat, int16_t vel_lon, float dt)
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{
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float speed_error_lat = 0; // The velocity in cm/s.
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float speed_error_lon = 0; // The velocity in cm/s.
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float speed_lat = inertial_nav.get_latitude_velocity();
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float speed_lon = inertial_nav.get_longitude_velocity();
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int32_t accel_lat;
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int32_t accel_lon;
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int32_t accel_total;
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int16_t lat_p,lat_i,lat_d;
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int16_t lon_p,lon_i,lon_d;
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// calculate vel error
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speed_error_lat = vel_lat - speed_lat;
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speed_error_lon = vel_lon - speed_lon;
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lat_p = g.pid_loiter_rate_lat.get_p(speed_error_lat);
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lat_i = g.pid_loiter_rate_lat.get_i(speed_error_lat, dt);
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lat_d = g.pid_loiter_rate_lat.get_d(speed_error_lat, dt);
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lon_p = g.pid_loiter_rate_lon.get_p(speed_error_lon);
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lon_i = g.pid_loiter_rate_lon.get_i(speed_error_lon, dt);
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lon_d = g.pid_loiter_rate_lon.get_d(speed_error_lon, dt);
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accel_lat = (lat_p+lat_i+lat_d);
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accel_lon = (lon_p+lon_i+lon_d);
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accel_total = safe_sqrt(accel_lat*accel_lat + accel_lon*accel_lon);
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if( accel_total > MAX_LOITER_VEL_ACCEL ) {
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accel_lat = MAX_LOITER_VEL_ACCEL * accel_lat/accel_total;
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accel_lon = MAX_LOITER_VEL_ACCEL * accel_lon/accel_total;
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}
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get_loiter_accel_lat_lon(accel_lat, accel_lon);
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}
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// get_loiter_pos_lat_lon - loiter position controller with desired position provided as distance from home in lat/lon directions in cm
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#define MAX_LOITER_POS_VELOCITY 750 // should be 1.5 ~ 2.0 times the pilot input's max velocity
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#define MAX_LOITER_POS_ACCEL 250
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static void
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get_loiter_pos_lat_lon(int32_t target_lat_from_home, int32_t target_lon_from_home, float dt)
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{
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float dist_error_lat;
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int32_t desired_vel_lat;
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float dist_error_lon;
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int32_t desired_vel_lon;
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int32_t dist_error_total;
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int16_t vel_sqrt;
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int32_t vel_total;
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int16_t linear_distance; // the distace we swap between linear and sqrt.
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// calculate distance error
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Vector3f curr = inertial_nav.get_position();
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dist_error_lat = target_lat_from_home - curr.x;
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dist_error_lon = target_lon_from_home - curr.y;
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linear_distance = MAX_LOITER_POS_ACCEL/(2*g.pi_loiter_lat.kP()*g.pi_loiter_lat.kP());
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dist_error_total = safe_sqrt(dist_error_lat*dist_error_lat + dist_error_lon*dist_error_lon);
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if( dist_error_total > 2*linear_distance ) {
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vel_sqrt = constrain(safe_sqrt(2*MAX_LOITER_POS_ACCEL*(dist_error_total-linear_distance)),0,1000);
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desired_vel_lat = vel_sqrt * dist_error_lat/dist_error_total;
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desired_vel_lon = vel_sqrt * dist_error_lon/dist_error_total;
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}else{
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desired_vel_lat = g.pi_loiter_lat.get_p(dist_error_lat);
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desired_vel_lon = g.pi_loiter_lon.get_p(dist_error_lon);
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}
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vel_total = safe_sqrt(desired_vel_lat*desired_vel_lat + desired_vel_lon*desired_vel_lon);
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if( vel_total > MAX_LOITER_POS_VELOCITY ) {
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desired_vel_lat = MAX_LOITER_POS_VELOCITY * desired_vel_lat/vel_total;
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desired_vel_lon = MAX_LOITER_POS_VELOCITY * desired_vel_lon/vel_total;
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}
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get_loiter_vel_lat_lon(desired_vel_lat, desired_vel_lon, dt);
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}
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#define MAX_LOITER_POS_VEL_VELOCITY 1000
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// loiter_set_pos_from_velocity - loiter velocity controller with desired velocity provided in front/right directions in cm/s
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static void
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loiter_set_pos_from_velocity(int16_t vel_forward_cms, int16_t vel_right_cms, float dt)
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{
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int32_t vel_lat;
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int32_t vel_lon;
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int32_t vel_total;
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vel_lat = vel_forward_cms*cos_yaw - vel_right_cms*sin_yaw;
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vel_lon = vel_forward_cms*sin_yaw + vel_right_cms*cos_yaw;
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// constrain the velocity vector and scale if necessary
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vel_total = safe_sqrt(vel_lat*vel_lat + vel_lon*vel_lon);
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if( vel_total > MAX_LOITER_POS_VEL_VELOCITY ) {
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vel_lat = MAX_LOITER_POS_VEL_VELOCITY * vel_lat/vel_total;
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vel_lon = MAX_LOITER_POS_VEL_VELOCITY * vel_lon/vel_total;
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}
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// update loiter target position
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loiter_lat_from_home_cm += vel_lat * dt;
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loiter_lon_from_home_cm += vel_lon * dt;
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// update next_WP location for reporting purposes
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set_next_WP_latlon(
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home.lat + loiter_lat_from_home_cm / LATLON_TO_CM,
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home.lng + loiter_lon_from_home_cm / LATLON_TO_CM * scaleLongUp);
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}
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// loiter_set_target - set loiter's target position from home in cm
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// To-Do: change this function to accept a target in lat/lon format (and remove setting of next_WP?)
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static void
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loiter_set_target(float lat_from_home_cm, float lon_from_home_cm)
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{
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loiter_lat_from_home_cm = lat_from_home_cm;
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loiter_lon_from_home_cm = lon_from_home_cm;
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// update next_WP location for reporting purposes
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set_next_WP_latlon(
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home.lat + loiter_lat_from_home_cm / LATLON_TO_CM,
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home.lng + loiter_lon_from_home_cm / LATLON_TO_CM * scaleLongUp);
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}
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//////////////////////////////////////////////////////////
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// waypoint inertial navigation controller
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//////////////////////////////////////////////////////////
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// Waypoint navigation is accomplished by moving the target location up to a maximum of 10m from the current location
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// get_wpinav_pos - wpinav position controller with desired position held in wpinav_destination
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static void
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get_wpinav_pos(float dt)
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{
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// re-use loiter position controller
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get_loiter_pos_lat_lon(wpinav_target.x, wpinav_target.y, dt);
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}
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// wpinav_set_destination - set destination using lat/lon coordinates
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void wpinav_set_destination(const Location& destination)
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{
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wpinav_set_origin_and_destination(current_loc, destination);
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}
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// wpinav_set_origin_and_destination - set origin and destination using lat/lon coordinates
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void wpinav_set_origin_and_destination(const Location& origin, const Location& destination)
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{
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wpinav_origin.x = (origin.lat-home.lat) * LATLON_TO_CM;
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wpinav_origin.y = (origin.lng-home.lng) * LATLON_TO_CM * scaleLongDown;
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wpinav_destination.x = (destination.lat-home.lat) * LATLON_TO_CM;
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wpinav_destination.y = (destination.lng-home.lng) * LATLON_TO_CM * scaleLongDown;
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wpinav_pos_delta = wpinav_destination - wpinav_origin;
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wpinav_track_length = wpinav_pos_delta.length();
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wpinav_track_desired = 0;
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// set next_WP, prev_WP for reporting purposes
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// To-Do: move calcs below to a function
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set_next_WP_latlon(
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home.lat + wpinav_destination.x / LATLON_TO_CM,
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home.lng + wpinav_destination.y / LATLON_TO_CM * scaleLongUp);
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}
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#define WPINAV_MAX_POS_ERROR 2000.0f // maximum distance (in cm) that the desired track can stray from our current location.
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void
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wpinav_advance_track_desired(float velocity_cms, float dt)
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{
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float cross_track_dist;
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float track_covered;
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float track_desired_max;
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float line_a, line_b, line_c, line_m;
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// get current location
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Vector2f curr(inertial_nav.get_latitude_diff(), inertial_nav.get_longitude_diff());
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// check for zero length segment
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if( wpinav_pos_delta.x == 0 && wpinav_pos_delta.y == 0) {
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wpinav_target = wpinav_destination;
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return;
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}
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if( wpinav_pos_delta.x == 0 ) {
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// x is zero
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cross_track_dist = fabs(curr.x - wpinav_destination.x);
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track_covered = fabs(curr.y - wpinav_origin.y);
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}else if(wpinav_pos_delta.y == 0) {
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// y is zero
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cross_track_dist = fabs(curr.y - wpinav_destination.y);
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track_covered = fabs(curr.x - wpinav_origin.x);
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}else{
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// both x and y non zero
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line_a = wpinav_pos_delta.y;
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line_b = -wpinav_pos_delta.x;
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line_c = wpinav_pos_delta.x * wpinav_origin.y - wpinav_pos_delta.y * wpinav_origin.x;
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line_m = line_a / line_b;
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cross_track_dist = abs(line_a * curr.x + line_b * curr.y + line_c ) / wpinav_track_length;
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line_m = 1/line_m;
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line_a = line_m;
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line_b = -1;
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line_c = curr.y - line_m * curr.x;
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// calculate the distance to the closest point along the track and it's distance from the origin
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track_covered = abs(line_a*wpinav_origin.x + line_b*wpinav_origin.y + line_c) / safe_sqrt(line_a*line_a+line_b*line_b);
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}
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// maximum distance along the track that we will allow (stops target point from getting too far from the current position)
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track_desired_max = track_covered + safe_sqrt(WPINAV_MAX_POS_ERROR*WPINAV_MAX_POS_ERROR-cross_track_dist*cross_track_dist);
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// advance the current target
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wpinav_track_desired += velocity_cms * dt;
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// constrain the target from moving too far
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if( wpinav_track_desired > track_desired_max ) {
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wpinav_track_desired = track_desired_max;
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}
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if( wpinav_track_desired > wpinav_track_length ) {
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wpinav_track_desired = wpinav_track_length;
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}
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// recalculate the desired position
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float track_length_pct = wpinav_track_desired/wpinav_track_length;
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wpinav_target.x = wpinav_origin.x + wpinav_pos_delta.x * track_length_pct;
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wpinav_target.y = wpinav_origin.y + wpinav_pos_delta.y * track_length_pct;
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}
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//////////////////////////////////////////////////////////
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// circle navigation controller
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//////////////////////////////////////////////////////////
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// circle_set_center -- set circle controller's center position and starting angle
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static void
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circle_set_center(const Vector2f pos_vec, float heading_in_radians)
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{
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// set circle center
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circle_center = pos_vec;
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// set starting angle to current heading - 180 degrees
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circle_angle = heading_in_radians-ToRad(180);
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if( circle_angle > 180 ) {
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circle_angle -= 180;
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}
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if( circle_angle < -180 ) {
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circle_angle -= 180;
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}
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// initialise other variables
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circle_angle_total = 0;
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}
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// circle_get_pos - circle position controller's main call which in turn calls loiter controller with updated target position
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static void
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circle_get_pos(float dt)
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{
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float angle_delta = circle_rate * dt;
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float cir_radius = g.circle_radius * 100;
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Vector2f circle_target;
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// update the target angle
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circle_angle += angle_delta;
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if( circle_angle > 180 ) {
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circle_angle -= 360;
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}
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if( circle_angle <= -180 ) {
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circle_angle += 360;
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}
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// update the total angle travelled
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circle_angle_total += angle_delta;
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// calculate target position
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circle_target.x = circle_center.x + cir_radius * sinf(1.57f - circle_angle);
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circle_target.y = circle_center.y + cir_radius * cosf(1.57f - circle_angle);
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// re-use loiter position controller
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get_loiter_pos_lat_lon(circle_target.x, circle_target.y, dt);
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}
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