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Re: [Paparazzi-devel] question about nav_circle_XY()

From: Gautier Hattenberger
Subject: Re: [Paparazzi-devel] question about nav_circle_XY()
Date: Tue, 26 Aug 2014 16:15:25 +0200
User-agent: Mozilla/5.0 (X11; Linux x86_64; rv:17.0) Gecko/20131103 Icedove/17.0.10


In NAV_MODE_COURSE, the carrot is placed on a line tangent to the circle in front of the plane. That's why you can see it outside of the circle on the GCS. The actual commanded bank angle is then: - a pre-command that correspond to the theoretical bank angle for a coordinated turn at a given speed and radius (see nav.c:136) - a correction based on the carrot (your speed vector should aim at the carrot)

As a side note, the other mode (NAV_MODE_ROLL) places the carrot directly on the circle and directly compute the bank angle. The result is almost the same in the end.


Le 26/08/2014 15:53, wertrrte a écrit :

I'm learning the nav_circle_XY() code,and I think I have understood the main
part about it.But for the  following sentence,I really cannot  understand

*  if (nav_mode == NAV_MODE_COURSE) {
     radius_carrot += (abs_radius / cos(carrot_angle) - abs_radius);

This 'if block' says,if nav_mode equals NAV_MODE_COURSE,the 'radius_carrot'
becomes radius_carrot/cos(carrot_angle).So radius_carrot becomes bigger.Why
this?If so,the plane will fly in a bigger circle other than the
desired?!!Looking forward to your enlightment.


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