|Subject:||Re: [Paparazzi-devel] prebank|
|Date:||Wed, 30 Oct 2013 16:12:37 +0100|
|User-agent:||Mozilla/5.0 (X11; Linux i686; rv:24.0) Gecko/20100101 Thunderbird/24.0|
The product CARROT*NOMINAL_AIRSPEED is actually used at several places in nav.c as a "length" scale adapted to each aircraft (if you give a correct value at least). In most cases, this could be better replaced by CARROT*ground_speed.
I guess the reasons it has not been done was that it would have been necessary to find proper bounds in order to avoid some stupid reactions and also to avoid oscillation of the control when the ground_speed value is varying a lot (due to turbulent wind for instance). Also this code dates back to a time where performance and code size was an issue, so a fixed precompiled value was a good option for an acceptable result.
If you think this can be improved, you can make a pull request to update this, but for most cases, the improvement is most likely to be within the accuracy of the trajectory tracking. So it will be difficult to evaluate, while the actual code is known to work good enough.
Anyway, thanks for poiting this.
Le 28/10/2013 22:05, alonso acuña a écrit :
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