mirror of https://github.com/ArduPilot/ardupilot
84 lines
2.2 KiB
Plaintext
84 lines
2.2 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 (!have_position) {
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return;
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}
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if ((next_WP.lat == 0)||(home_is_set==false)){
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return;
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}
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// waypoint distance from rover
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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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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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// 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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static void calc_bearing_error()
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{
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static butter10hz1_6 butter;
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bearing_error_cd = wrap_180(nav_bearing - ahrs.yaw_sensor);
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bearing_error_cd = butter.filter(bearing_error_cd);
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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_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 = sinf(radians((target_bearing - crosstrack_bearing) / (float)100)) * 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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