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Merge pull request #497 from thomasgubler/l1_sine_eta1 

l1: fix constrain of sine_eta1
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Lorenz Meier 2013-10-27 07:02:59 -07:00
parent 59c04adada 4b63c54885
commit 0b89051be1
1 changed files with 1 additions and 1 deletions
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2
src/lib/ecl/l1/ecl_l1_pos_controller.cpp
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@ -190,7 +190,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c
float xtrackErr = vector_A_to_airplane % vector_AB; float xtrackErr = vector_A_to_airplane % vector_AB;
float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f); float sine_eta1 = xtrackErr / math::max(_L1_distance , 0.1f);
/* limit output to 45 degrees */ /* limit output to 45 degrees */
sine_eta1 = math::constrain(sine_eta1, -M_PI_F / 4.0f, +M_PI_F / 4.0f); sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071
float eta1 = asinf(sine_eta1); float eta1 = asinf(sine_eta1);
eta = eta1 + eta2; eta = eta1 + eta2;
/* bearing from current position to L1 point */ /* bearing from current position to L1 point */