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Re: [Paparazzi-devel] Navigation schema ?

From: Famille Chateauvieux-Hellwig
Subject: Re: [Paparazzi-devel] Navigation schema ?
Date: Sat, 14 Jun 2008 18:39:18 +0200
User-agent: KMail/1.9.5

Le samedi 14 juin 2008 18:06, vous avez écrit :
> I dont believe I explained myself very well so I will try again.  The
> Carrot creates a position some "time" tangent to the desired route, with 0
> time starting at the perpendicular from your current position to the
> route.  The affect is to give you a sort of D term on your route
> navigation, as the plane will follow the carrot.  Getting on the route
> early and following it down the route.  You could do something similar by
> leaving the carrot time = 0, but would lose the affective D term which
> would cause your course to ossilate. 
> AJ

        Hmm... let's keep the simple of the "goto waypoint" example: The 
route is a straight line between the actual position and the wayopint. The 
tangent to the desired route is the desired route itself, right ? So the 
course to the carrot and the course to the target is just the same ???
Except... How do you refresh the carrot position ? If you keep the carrot 
position fix for a while let's say 2 seconds, you run 8 PID loops in this 
time. During these two seconds, the bearing to the carrot is different from 
the bearing to the waypoint. Is this what you're doing ?


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