AgOpenGPS v 5.2.1 Bugs

bjorn · 27 August 2021 14:31

farmerbriantee/AgOpenGPS/blob/master/SourceCode/GPS/Classes/CSim.cs#L29


      
          public CSim(FormGPS _f)
          {
              mf = _f;
              latitude = Properties.Settings.Default.setGPS_SimLatitude;
              longitude = Properties.Settings.Default.setGPS_SimLongitude;
          }
          
          
public void DoSimTick(double _st)
          {
              steerAngle = _st;
              double temp = stepDistance * Math.Tan(steerAngle * 0.0165329252) / 3.3;
              headingTrue += temp;
              if (headingTrue > glm.twoPI) headingTrue -= glm.twoPI;
              if (headingTrue < 0) headingTrue += glm.twoPI;
          
          

          
    //Calculate the next Lat Long based on heading and distance
              CalculateNewPostionFromBearingDistance(glm.toRadians(latitude), glm.toRadians(longitude), headingTrue, stepDistance / 1000.0);
          
          
    
              mf.pn.ConvertWGS84ToLocal(latitude, longitude, out mf.pn.fix.northing, out mf.pn.fix.easting);

should be:

double temp = stepDistance * Math.Tan(steerAngle * 0.0175329252) / mf.vehicle.wheelbase;

bjorn · 27 August 2021 15:45

the pivot error is using the local heading as angle, but the pivot east and pivot north is using the angular velocity * timestamp as angle in the simulation. why are they not the same? why is the local heading not the same as the angular velocity times the timestamp (0.090sec)? the simulation was using pure pursuit and going towards an abline with a pivot distance error of 2meter, speed 1.6 kph, lookahead of 4m, wheelbase 2.8m. purepursuit22.xlsx (1.1 MB)

github.com

farmerbriantee/AgOpenGPS/blob/master/SourceCode/GPS/Classes/CABLine.cs

using OpenTK.Graphics.OpenGL;
using System;
using System.Collections.Generic;

namespace AgOpenGPS
{
    public class CABLine
    {
        public double abFixHeadingDelta;
        public double abHeading, abLength;
        public double angVel;

        public bool isABValid, isLateralTriggered;

        //the current AB guidance line
        public vec3 currentABLineP1 = new vec3(0.0, 0.0, 0.0);
        public vec3 currentABLineP2 = new vec3(0.0, 1.0, 0.0);

        public double distanceFromCurrentLinePivot;
        public double distanceFromRefLine;

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