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nav_prebak, nav_speed_depend removed

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Pascal Brisset
2006-06-26 15:00:43 +00:00
parent 391a85b7e7
commit 0571bcafbb
6 changed files with 3 additions and 13 deletions
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conf/flight_plans/failsafe_modes.xml
+2 -2
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@@ -8,8 +8,8 @@
</waypoints>
<exceptions>
<exception cond="And(block_time>20, dist2_to_home > 500*500)" deroute="home"/>
<exception cond="And(block_time>20, dist2_to_home > 600*600)" deroute="kill"/>
<exception cond="And(block_time>20, dist2_to_home > 500.*500.)" deroute="home"/>
<exception cond="And(block_time>20, dist2_to_home > 600.*600.)" deroute="kill"/>
<exception cond="And(launch, gps_lost)" deroute="kill"/>
</exceptions>
conf/flight_plans/generic.xml
-2
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@@ -9,8 +9,6 @@
<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
<dl_setting VAR="nav_prebank" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="nav_speed_depend" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="z_constrast_mode" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="rate_mode" MIN="0." STEP="1" MAX="1."/>
<dl_setting VAR="altitude_shift" MIN="-50" STEP="10" MAX="1000"/>
conf/flight_plans/mav05_ccw.xml
-2
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@@ -16,8 +16,6 @@
<dl_setting VAR="phi_c" MIN="-1." STEP="0.05" MAX="1."/>
<dl_setting VAR="theta_c" MIN="-1." STEP="0.05" MAX="1."/>
<dl_setting VAR="course_pgain" MIN="-1." STEP="0.05" MAX="-0.1"/>
<dl_setting VAR="nav_prebank" MIN="0." STEP="0.1" MAX="1."/>
<dl_setting VAR="nav_speed_depend" MIN="0." STEP="0.1" MAX="1."/>
</dl_settings>
<waypoints>
conf/flight_plans/ricou_mini.xml
-2
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@@ -7,8 +7,6 @@
<dl_setting VAR="climb_level_gaz" MAX="0.7" STEP="0.05" MIN="0.3"/>
<dl_setting VAR="climb_pgain" MAX="-0.01" STEP="0.01" MIN="-0.5"/>
<dl_setting VAR="course_pgain" MAX="-0.1" STEP="0.05" MIN="-2"/>
<dl_setting VAR="nav_prebank" MIN="0." STEP="0.1" MAX="1."/>
<dl_setting VAR="nav_speed_depend" MIN="0." STEP="0.1" MAX="1."/>
<dl_setting VAR="z_constrast_mode" MIN="0." STEP="0.1" MAX="1."/>
<dl_setting VAR="rate_mode" MIN="0." STEP="0.1" MAX="1."/>
<!--
sw/airborne/nav.c
+1 -4
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@@ -69,7 +69,6 @@ int16_t circle_x, circle_y, circle_radius;
int16_t segment_x_1, segment_y_1, segment_x_2, segment_y_2;
uint8_t horizontal_mode;
float circle_bank = 0;
float nav_prebank, nav_speed_depend;
#define RcRoll(travel) (fbw_state->channels[RADIO_ROLL]* (float)travel /(float)MAX_PPRZ)
@@ -131,14 +130,13 @@ static float qdr;
0 : \
sign_radius * atan2(estimator_hspeed_mod*estimator_hspeed_mod, \
G*abs_radius); \
circle_bank *= nav_prebank; \
circle_count = fabs(sum_alpha) / (2*M_PI); \
float carrot_angle = CARROT / abs_radius * estimator_hspeed_mod; \
carrot_angle = Min(carrot_angle, M_PI/4); \
carrot_angle = Max(carrot_angle, M_PI/16); \
float alpha_carrot = alpha - sign_radius * carrot_angle; \
horizontal_mode = HORIZONTAL_MODE_CIRCLE; \
float radius_carrot = abs_radius + nav_prebank * (abs_radius / cos(carrot_angle) - abs_radius); \
float radius_carrot = abs_radius + (abs_radius / cos(carrot_angle) - abs_radius); \
fly_to_xy(x+cos(alpha_carrot)*radius_carrot, \
y+sin(alpha_carrot)*radius_carrot); \
qdr = DegOfRad(M_PI/2 - alpha); \
@@ -536,7 +534,6 @@ void course_pid_run( void ) {
float speed_depend_nav = estimator_hspeed_mod/NOMINAL_AIRSPEED;
speed_depend_nav = Max(speed_depend_nav,0.66);
speed_depend_nav = Min(speed_depend_nav,1.5);
speed_depend_nav = 1. + nav_speed_depend * (speed_depend_nav-1.);
float roll_from_err = course_pgain * speed_depend_nav * err;
#if defined AGR_CLIMB_GAZ
if (climb_mode == CLIMB_MODE_AGRESSIVE) {
sw/airborne/nav.h
-1
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@@ -106,7 +106,6 @@ extern float pitch_of_vz_pgain;
extern float pitch_of_vz;
extern float aileron_of_gaz;
extern float climb_level_gaz;
extern float nav_prebank, nav_speed_depend;
extern float ground_alt;
extern float survey_west, survey_east, survey_north, survey_south;