Testing out cross tracking in WJP branch.

[Peter Hollands]

Bill,

I'm wondering about doing my first flight of the season later today, and I'm considering running your new cross tracking algorithm, and flying your WJP Branch.

Is that sensible ?

Or is the code not ready for testing yet.

I don't have many days available for flying but today, Saturday, is a beautful spring day in the UK with low wind speeds.

Best wishes, Pete

[William Premerlani]

Peter,

That is a good idea to try out the new cross tracking algorithm.

However, last night I removed some code that is no longer needed by the new algorithm, it is possible that I might have broken something.

I was planning on doing a final HILSIM test today, but right now I am heading out to join our local club members in cleaning our field.

So, what I suggest you do is to go ahead and try the new cross tracking code, but just be aware that it might have some bugs as a result

of the cleanup that I did last night.

Best regards,

Bill

--
You received this message because you are subscribed to the Google Groups "uavdevboard-dev" group.
To unsubscribe from this group and stop receiving emails from it, send an email to uavdevboard-d...@googlegroups.com.
For more options, visit https://groups.google.com/groups/opt_out.
 
 

[William Premerlani]

Pete,

I just did an HILSIM test flight of MP_WJP_research, it checked out ok, you are "cleared for take-off".

A couple of things you should know.

1. You will not be able to do a ground check of the nav gains, because navigation is based on course over ground.

I plan to add something to the code that will use heading instead of COG during ground tests.

2. There is one cross-tracking parameter that you can adjust, its in the navigate.c file:

#define CTMARGIN 64

#if ( CTMARGIN >= 1024 )

#error ( "CTMARGIN is too large, it must be less than 1024")

#endif

Basically, CTMARGIN is like HEIGHT_MARGIN, except it is for lateral motion. It is the cross tracking distance at which the

cross tracking adjustment saturates. Units are meters. 64 meters is a pretty good number for a Cessna, it might be a bit

too large for your Twin Star, you might be better off with 32 instead, but I would not recommend anything less than 32 or greater than 128.

CTMARGIN does not have to be a power of 2, it only has to be an unsigned integer.

Best regards,

Bill

On Sat, Apr 20, 2013 at 7:01 AM, Peter Hollands <peter.h...@gmail.com> wrote:

[Peter Hollands]

Bill,

OK. Thanks, Just preparing my code to compile and download.

Best wishes, Pete