piloting
Differences
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| piloting [2022/09/23 01:28] – jhagstrand | piloting [2023/01/12 11:38] (current) – removed jhagstrand | ||
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| - | ====== Piloting ====== | ||
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| - | the current method works when steering_angle is 0 | ||
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| - | when steering is <> 0, then heading is changing (as well as position) | ||
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| - | first calc the new heading | ||
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| - | then calc the new position (already done) | ||
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| - | treat steering_angle as a bearing, that is, an angle in degrees, add it to the previous heading to get the new heading | ||
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| - | * lastKnownHeading + steering_angle = newHeading | ||
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| - | * heading = orientation of the vehicle | ||
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| - | * heading+helm = prediction of future course | ||
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| - | * course = actual travel = line from previous position to current position | ||
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| - | * simmode = precise | ||
| - | * heading is set instantly to what we want we want it to be | ||
| - | * line: heading = course, line from prevpos to current positon | ||
| - | * arc: heading is assumed to be perpendicular to the ray from cone to current position | ||
| - | * both: on nextleg, heading jumps to next leg from | ||
| - | * no drift | ||
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| - | * simmode = helmed | ||
| - | * heading is what it is | ||
| - | * course is what it is | ||
| - | * set helm bring course back to what we want | ||
| - | * includes drift | ||
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| - | * when we reach a cone | ||
| - | * change bearing to next cone | ||
| - | * set helm to steer a circle - how to calculate this based on radius and speed? | ||
| - | * stay in the circle until heading = bearing | ||
piloting.1663910888.txt.gz · Last modified: 2022/09/23 01:28 by jhagstrand