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Removed l1 control slope angle limitation. The maximal approach angle to the line was set to 45°, no the approach angle can be up to 90°.

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Konrad 2022-05-04 14:56:45 +02:00 committed by Daniel Agar
parent 2bee8bfd45
commit 14a2fdfe55
1 changed files with 2 additions and 2 deletions
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4
src/lib/l1/ECL_L1_Pos_Controller.cpp
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@ -189,8 +189,8 @@ ECL_L1_Pos_Controller::navigate_waypoints(const Vector2f &vector_A, const Vector
float xtrackErr = vector_A_to_airplane % vector_AB;
float sine_eta1 = xtrackErr / math::max(_L1_distance, 0.1f);
/* limit output to 45 degrees */
sine_eta1 = math::constrain(sine_eta1, -0.7071f, 0.7071f); //sin(pi/4) = 0.7071
/* limit output to feasible values */
sine_eta1 = math::constrain(sine_eta1, -1.0f, 1.0f);
float eta1 = asinf(sine_eta1);
eta = eta1 + eta2;