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breadoven 2022-12-19 00:06:01 +00:00
parent 5d84300545
commit a366ae4671
5 changed files with 69 additions and 73 deletions
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16
src/main/navigation/navigation_fixedwing.c
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@ -305,7 +305,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
// velXY provides additional turn initiation distance based on an assumed 1 second delayed turn response time
if (posControl.wpDistance < (posControl.actualState.velXY + navLoiterRadius * turnStartFactor)) {
if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_ON) {
int32_t loiterCenterBearing = wrap_36000(((wrap_18000(posControl.activeWaypoint.nextTurnAngle - 18000)) / 2) + posControl.activeWaypoint.yaw + 18000);
int32_t loiterCenterBearing = wrap_36000(((wrap_18000(posControl.activeWaypoint.nextTurnAngle - 18000)) / 2) + posControl.activeWaypoint.bearing + 18000);
loiterCenterPos.x = posControl.activeWaypoint.pos.x + navLoiterRadius * cos_approx(CENTIDEGREES_TO_RADIANS(loiterCenterBearing));
loiterCenterPos.y = posControl.activeWaypoint.pos.y + navLoiterRadius * sin_approx(CENTIDEGREES_TO_RADIANS(loiterCenterBearing));
@ -398,12 +398,12 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
/* If waypoint tracking enabled quickly force craft toward waypoint course line and closely track along it */
if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) {
// courseVirtualCorrection initially used to determine current position relative to course line for later use
int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.yaw - virtualTargetBearing);
int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.bearing - virtualTargetBearing);
navCrossTrackError = ABS(posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(courseVirtualCorrection)));
// tracking only active when certain distance and heading conditions are met
if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.yaw)) < 9000 || posControl.wpDistance < 1000.0f) && navCrossTrackError > 200) {
int32_t courseHeadingError = wrap_18000(posControl.activeWaypoint.yaw - posControl.actualState.yaw);
if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.cog)) < 9000 || posControl.wpDistance < 1000.0f) && navCrossTrackError > 200) {
int32_t courseHeadingError = wrap_18000(posControl.activeWaypoint.bearing - posControl.actualState.cog);
// captureFactor adjusts distance/heading sensitivity balance when closing in on course line.
// Closing distance threashold based on speed and an assumed 1 second response time.
@ -423,7 +423,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
// final courseVirtualCorrection value
courseVirtualCorrection = DEGREES_TO_CENTIDEGREES(navConfig()->fw.wp_tracking_max_angle) * courseCorrectionFactor;
virtualTargetBearing = wrap_36000(posControl.activeWaypoint.yaw - courseVirtualCorrection);
virtualTargetBearing = wrap_36000(posControl.activeWaypoint.bearing - courseVirtualCorrection);
}
}
@ -431,7 +431,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
* Calculate NAV heading error
* Units are centidegrees
*/
navHeadingError = wrap_18000(virtualTargetBearing - posControl.actualState.yaw);
navHeadingError = wrap_18000(virtualTargetBearing - posControl.actualState.cog);
// Forced turn direction
// If heading error is close to 180 deg we initiate forced turn and only disable it when heading error goes below 90 deg
@ -461,7 +461,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
const pidControllerFlags_e pidFlags = PID_DTERM_FROM_ERROR | (errorIsDecreasing ? PID_SHRINK_INTEGRATOR : 0);
// Input error in (deg*100), output roll angle (deg*100)
float rollAdjustment = navPidApply2(&posControl.pids.fw_nav, posControl.actualState.yaw + navHeadingError, posControl.actualState.yaw, US2S(deltaMicros),
float rollAdjustment = navPidApply2(&posControl.pids.fw_nav, posControl.actualState.cog + navHeadingError, posControl.actualState.cog, US2S(deltaMicros),
-DEGREES_TO_CENTIDEGREES(navConfig()->fw.max_bank_angle),
DEGREES_TO_CENTIDEGREES(navConfig()->fw.max_bank_angle),
pidFlags);
@ -769,7 +769,7 @@ void calculateFixedWingInitialHoldPosition(fpVector3_t * pos)
void resetFixedWingHeadingController(void)
{
updateHeadingHoldTarget(CENTIDEGREES_TO_DEGREES(posControl.actualState.yaw));
updateHeadingHoldTarget(CENTIDEGREES_TO_DEGREES(posControl.actualState.cog));
}
void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags, timeUs_t currentTimeUs)