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This commit is contained in:
breadoven 2024-08-08 09:06:54 +01:00
parent 42322663f6
commit b3da693c5a
1 changed files with 16 additions and 8 deletions
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24
src/main/navigation/navigation_fixedwing.c
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@ -401,14 +401,21 @@ 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 waypoint tracking enabled quickly force craft toward waypoint course line and closely track along it */
if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) { if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) {
int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.bearing - virtualTargetBearing); fpVector3_t virtualCoursePoint;
navCrossTrackError = ABS(posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(courseVirtualCorrection))); virtualCoursePoint.x = posControl.activeWaypoint.pos.x -
posControl.wpDistance * cos_approx(CENTIDEGREES_TO_RADIANS(posControl.activeWaypoint.bearing));
virtualCoursePoint.y = posControl.activeWaypoint.pos.y -
posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(posControl.activeWaypoint.bearing));
navCrossTrackError = calculateDistanceToDestination(&virtualCoursePoint);
if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.cog)) < 9000 || posControl.wpDistance < 1000.0f) && navCrossTrackError > 200.0f) { if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.cog)) < 9000 || posControl.wpDistance < 1000.0f) && navCrossTrackError > 200) {
static float crossTrackErrorRate; static float crossTrackErrorRate;
if ((currentTimeUs - previousTimeMonitoringUpdate) >= HZ2US(NAV_FW_CONTROL_MONITORING_RATE)) { static timeUs_t previousCrossTrackErrorUpdateTime;
if ((currentTimeUs - previousCrossTrackErrorUpdateTime) >= HZ2US(10)) {
static float previousCrossTrackError = 0.0f; static float previousCrossTrackError = 0.0f;
crossTrackErrorRate = 0.5f * (crossTrackErrorRate + (previousCrossTrackError - navCrossTrackError) / US2S(currentTimeUs - previousTimeMonitoringUpdate)); crossTrackErrorRate = (previousCrossTrackError - navCrossTrackError) / US2S(currentTimeUs - previousCrossTrackErrorUpdateTime);
previousCrossTrackErrorUpdateTime = currentTimeUs;
previousCrossTrackError = navCrossTrackError; previousCrossTrackError = navCrossTrackError;
} }
@ -416,11 +423,12 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
float adjustmentFactor = wrap_18000(posControl.activeWaypoint.bearing - virtualTargetBearing); float adjustmentFactor = wrap_18000(posControl.activeWaypoint.bearing - virtualTargetBearing);
adjustmentFactor *= 1.0f + sq(navCrossTrackError / (navConfig()->fw.wp_tracking_accuracy * 500.0f)); adjustmentFactor *= 1.0f + sq(navCrossTrackError / (navConfig()->fw.wp_tracking_accuracy * 500.0f));
/* Apply additional fine adjustment based on speed of convergence to try and achieve arrival time of around 15s */ /* Apply additional fine adjustment based on speed of convergence to achieve a convergence speed of around 2 m/s */
float limit = constrainf(navCrossTrackError / 3.0f, 200.0f, 500.0f); float limit = constrainf((crossTrackErrorRate > 0.0f ? crossTrackErrorRate : 0.0f) + navCrossTrackError / 3.0f, 200.0f, posControl.actualState.velXY / 4.0f);
float rateFactor = limit; float rateFactor = limit;
if (crossTrackErrorRate > 0.0f) { if (crossTrackErrorRate > 0.0f) {
rateFactor = constrainf(scaleRangef(navCrossTrackError / crossTrackErrorRate, 0, 30, -limit, limit), -limit, limit); float timeFactor = constrainf(navCrossTrackError / 100.0f, 10.0f, 30.0f);
rateFactor = constrainf(scaleRangef(navCrossTrackError / crossTrackErrorRate, 0.0f, timeFactor, -limit, limit), -limit, limit);
} }
/* Determine final adjusted virtualTargetBearing */ /* Determine final adjusted virtualTargetBearing */