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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-29 18:00:01 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-09-29 18:00:01 +0200 |
| commit | 7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43 (patch) | |
| tree | a097bd45b6f36e0180b9847a314d9736028dc15d /apps/systemlib | |
| parent | 1725069c188fddce7e22026ca77edd5ea980b54a (diff) | |
| download | px4-firmware-7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43.tar.gz px4-firmware-7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43.tar.bz2 px4-firmware-7949ac1ad83a7a1a9128cc8333e90e12d3ce6e43.zip | |
Fixed heading calculation, fixed heading controller
Diffstat (limited to 'apps/systemlib')
| -rw-r--r-- | apps/systemlib/geo/geo.c | 9 | ||||
| -rw-r--r-- | apps/systemlib/pid/pid.c | 2 |
2 files changed, 7 insertions, 4 deletions
diff --git a/apps/systemlib/geo/geo.c b/apps/systemlib/geo/geo.c index 42d8d9c15..ce46d01cc 100644 --- a/apps/systemlib/geo/geo.c +++ b/apps/systemlib/geo/geo.c @@ -79,9 +79,12 @@ __EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, doub /* conscious mix of double and float trig function to maximize speed and efficiency */ float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon)); - // XXX wrapping check is incomplete - if (theta < 0.0f) { - theta = theta + 2.0f * M_PI_F; + if (theta < M_PI_F) { + theta += 2.0f * M_PI_F; + } + + if (theta > M_PI_F) { + theta -= 2.0f * M_PI_F; } return theta; diff --git a/apps/systemlib/pid/pid.c b/apps/systemlib/pid/pid.c index 61dd5757f..cff5e6bbe 100644 --- a/apps/systemlib/pid/pid.c +++ b/apps/systemlib/pid/pid.c @@ -179,7 +179,7 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo pid->error_previous = error; } - float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd); + float output = (pid->error_previous * pid->kp) + (i * pid->ki) + (d * pid->kd); if (isfinite(output)) { pid->last_output = output; |