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px4-firmware
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POSCTRL: 

- make sure we always intialize the waypoints
  on the desired path and that the previous waypoint is
  behind the plane
- replace magic numbers with defines
This commit is contained in:
tumbili 2015-06-02 14:25:27 +02:00 committed by Lorenz Meier
parent 7f07e4306a
commit e5e4db1923
1 changed files with 14 additions and 7 deletions
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21
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -95,6 +95,10 @@
static int _control_task = -1; /**< task handle for sensor task */
#define HDG_HOLD_DIST_NEXT 3000.0f
#define HDG_HOLD_REACHED_DIST 1000.0f
#define HDG_HOLD_SET_BACK_DIST 100.0f
/**
* L1 control app start / stop handling function
@ -911,14 +915,17 @@ void FixedwingPositionControl::get_waypoint_heading_distance(float heading, floa
waypoint_prev.lat = _global_pos.lat;
waypoint_prev.lon = _global_pos.lon;
} else {
// use waypoint which is still in front of us
waypoint_prev.lat = waypoint_next.lat;
waypoint_prev.lon = waypoint_next.lon;
/*
for previous waypoint use the one still in front of us but shift it such that it is
located on the desired flight path but HDG_HOLD_SET_BACK_DIST behind us
*/
waypoint_prev.lat = waypoint_next.lat - cos(heading) * (double)(HDG_HOLD_REACHED_DIST + HDG_HOLD_SET_BACK_DIST) / 1e6;
waypoint_prev.lon = waypoint_next.lon - sin(heading) * (double)(HDG_HOLD_REACHED_DIST + HDG_HOLD_SET_BACK_DIST) / 1e6;
}
waypoint_next.valid = true;
waypoint_next.lat = waypoint_prev.lat + cos(heading) * (double)distance / 1e6;
waypoint_next.lon = waypoint_prev.lon + sin(heading) * (double)distance / 1e6;
waypoint_next.lat = waypoint_prev.lat + cos(heading) * (double)(distance + HDG_HOLD_SET_BACK_DIST) / 1e6;
waypoint_next.lon = waypoint_prev.lon + sin(heading) * (double)(distance + HDG_HOLD_SET_BACK_DIST) / 1e6;
waypoint_next.alt = _hold_alt;
}
@ -1424,8 +1431,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* we have a valid heading hold position, are we too close? */
if (get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
_hdg_hold_curr_wp.lat, _hdg_hold_curr_wp.lon) < 1000) {
get_waypoint_heading_distance(_hdg_hold_yaw, 3000, _hdg_hold_prev_wp, _hdg_hold_curr_wp, false);
_hdg_hold_curr_wp.lat, _hdg_hold_curr_wp.lon) < HDG_HOLD_REACHED_DIST) {
get_waypoint_heading_distance(_hdg_hold_yaw, HDG_HOLD_DIST_NEXT, _hdg_hold_prev_wp, _hdg_hold_curr_wp, false);
}
math::Vector<2> prev_wp;