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add back some target based D

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This commit is contained in:
ctzsnooze 2024-10-22 15:38:33 +11:00
parent dab5242a78
commit 95afb2fa12
1 changed files with 7 additions and 5 deletions
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12
src/main/flight/autopilot.c
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@ -236,7 +236,6 @@ bool positionControl(void) {
} }
} }
posHold.previousDistanceCm = posHold.distanceCm;
float pt1Gain = pt1FilterGain(posHold.lpfCutoff, gpsDataIntervalS); float pt1Gain = pt1FilterGain(posHold.lpfCutoff, gpsDataIntervalS);
@ -269,9 +268,8 @@ bool positionControl(void) {
// derivative and acceleration // derivative and acceleration
// note: here we just want no velocity, so use gps groundspeed // note: here we just want no velocity, so use gps groundspeed
// adjust response angle based on drift angle compared to nose of quad // adjust response angle based on drift angle compared to nose of quad
// ie yaw attitude (angle of quad nose) vs groundcourse (drift direction) both in earth frame // ie yaw attitude (angle of quad nose) minus groundcourse (drift direction) both in earth frame
// calculate difference in angle between nose of quad and drift direction
float errorGroundCourse = (attitude.values.yaw - gpsSol.groundCourse) / 10.0f; float errorGroundCourse = (attitude.values.yaw - gpsSol.groundCourse) / 10.0f;
float normGCE = fmodf(errorGroundCourse + 360.0f, 360.0f); float normGCE = fmodf(errorGroundCourse + 360.0f, 360.0f);
if (normGCE > 180.0f) { if (normGCE > 180.0f) {
@ -285,8 +283,12 @@ bool positionControl(void) {
float acceleration = (velocity - posHold.previousVelocity) * gpsDataIntervalHz; // positive when moving away float acceleration = (velocity - posHold.previousVelocity) * gpsDataIntervalHz; // positive when moving away
posHold.previousVelocity = velocity; posHold.previousVelocity = velocity;
// include a target based D element. This is smoother and complements groundcourse measurements.
float velocityToTarget = (posHold.distanceCm - posHold.previousDistanceCm) * gpsDataIntervalHz;
posHold.previousDistanceCm = posHold.distanceCm;
// roll // roll
float velocityRoll = rollVelProp * velocity; float velocityRoll = rollVelProp * velocity + velocityToTarget * rollProportion;
float accelerationRoll = rollVelProp * acceleration; float accelerationRoll = rollVelProp * acceleration;
// lowpass filters // lowpass filters
pt1FilterUpdateCutoff(&velocityRollLpf, pt1Gain); pt1FilterUpdateCutoff(&velocityRollLpf, pt1Gain);
@ -297,7 +299,7 @@ bool positionControl(void) {
float rollA = accelerationRoll * positionPidCoeffs.Kf; float rollA = accelerationRoll * positionPidCoeffs.Kf;
// pitch // pitch
float velocityPitch = pitchVelProp * velocity; float velocityPitch = pitchVelProp * velocity + velocityToTarget * pitchProportion;
float accelerationPitch = pitchVelProp * acceleration; float accelerationPitch = pitchVelProp * acceleration;
// lowpass filters // lowpass filters