From c4c49ecfa705c6c871afe61f6c058bbb5910a617 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 5 Nov 2012 22:36:09 +0100 Subject: [PATCH] fw control: minor cleanup (work in progress) --- .../fixedwing_pos_control_main.c | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 5f5b70090f..e778e20701 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -239,7 +239,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint); if(global_sp_updated) { - start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint) + start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint) global_sp_updated_set_once = true; psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d, (double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d); @@ -252,12 +252,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) /* Simple Horizontal Control */ if(global_sp_updated_set_once) { - if (counter % 100 == 0) - printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); - - /* calculate bearing error */ -// float target_bearing = get_bearing_to_next_waypoint(global_pos.lat / (double)1e7d, global_pos.lon / (double)1e7d, -// global_setpoint.lat / (double)1e7d, global_setpoint.lon / (double)1e7d); +// if (counter % 100 == 0) +// printf("lat_sp %d, ln_sp %d, lat: %d, lon: %d\n", global_setpoint.lat, global_setpoint.lon, global_pos.lat, global_pos.lon); /* calculate crosstrack error */ // Only the case of a straight line track following handled so far @@ -277,10 +273,8 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) float psi_c = psi_track + delta_psi_c; - float psi_e = psi_c - att.yaw; - /* shift error to prevent wrapping issues */ psi_e = _wrapPI(psi_e);