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XTRACK_GAIN = .2if (abs(bearing_error) < 25) { bearing_error += sin(radians(crosstrack_heading - bearing_error)) * wp_distance * XTRACK_GAIN;}We set the crosstrack from our starting location as the angle toward the waypoint. As we get blown from side to side, that angle changes. We run that through sine to get a nice ratio and multiply it to get an angle to add to our heading.Depending on the gain and bearing error, we can get wild results, so we need to limit the effect to a range of degrees. In this case 25°. If we go outside of 25° by a lot, we can reset the crosstrack to be from the current location.Here is an example:
if(LOITER){ if (WP_distance < radius){ power = WP_distance / radius; }else if (WPDistance < (radius * 2)){ power = (radius - WP_distance) / radius; } bearing_error += power * -90;}This says the closer we are to the radius the more we turn 90 to the waypoint. The sign can be changed to adjust the direction of orbit for things like implementing turn prediction. Simple!In Ardupilot 2.5 you will be able to loiter over any location or specific waypoints.That's it.-Jason
Antenna Pan Tilt Test Flight from Mr.Pibb on Vimeo.
I thought I would use the Swiss Machine Pin Headers after reading on Sparkfuns website that they hold really well, which is what I wanted. Also the FTDI cable works as well(my own realization).
DO NOT USE THESE! They hold a little too well...
You can see in the pic above that they tend to bend when trying to pull off the shield from the ArduPilot, they can't bend a whole lot, or they break.
So I need to find my damn desoldering tool, and desolder ALL the machine pins off, and put in the regular headers that came with the shield. This doesn't shine a bad light on sparkfun and their products, they work really well, just not for this purpose... lolLast but not least, here's my ArduIMU V2:
