Differences

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--- piloting [2022/09/23 01:21] – created jhagstrand
+++ piloting [2023/01/12 11:38] (current) – removed jhagstrand
@@ Line 1: / Line 1: @@
-====== Piloting ======
-the current method works when steering_angle is 0
-when steering is <> 0, then heading is changing (as well as position)
-first calc the new heading
-then calc the new position (already done)
-treat steering_angle as a bearing, that is, an angle in degrees, add it to the previous heading to get the new heading
-    lastKnownHeading + steering_angle = newHeading
-       heading = orientation of the vehicle
-        heading+helm = prediction of future course
-        course = actual travel = line from previous position to current position
-        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
-        simmode = helmed
-                heading is what it is
-                course is what it is
-                set helm bring course back to what we want
-                includes drift
-        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