ardupilot/libraries/AR_WPNav/AR_WPNav.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_Math/AP_Math.h>
#include <AP_HAL/AP_HAL.h>
#include "AR_WPNav.h"
extern const AP_HAL::HAL& hal;
#define AR_WPNAV_TIMEOUT_MS 100
#define AR_WPNAV_SPEED_DEFAULT 2.0f
#define AR_WPNAV_RADIUS_DEFAULT 2.0f
#define AR_WPNAV_OVERSHOOT_DEFAULT 2.0f
#define AR_WPNAV_PIVOT_ANGLE_DEFAULT 60
#define AR_WPNAV_PIVOT_ANGLE_ACCURACY 10 // vehicle will pivot to within this many degrees of destination
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#define AR_WPNAV_PIVOT_RATE_DEFAULT 90
const AP_Param::GroupInfo AR_WPNav::var_info[] = {
// @Param: SPEED
// @DisplayName: Waypoint speed default
// @Description: Waypoint speed default
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("SPEED", 1, AR_WPNav, _speed_max, AR_WPNAV_SPEED_DEFAULT),
// @Param: RADIUS
// @DisplayName: Waypoint radius
// @Description: The distance in meters from a waypoint when we consider the waypoint has been reached. This determines when the vehicle will turn toward the next waypoint.
// @Units: m
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("RADIUS", 2, AR_WPNav, _radius, AR_WPNAV_RADIUS_DEFAULT),
// @Param: OVERSHOOT
// @DisplayName: Waypoint overshoot maximum
// @Description: Waypoint overshoot maximum in meters. The vehicle will attempt to stay within this many meters of the track as it completes one waypoint and moves to the next.
// @Units: m
// @Range: 0 10
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("OVERSHOOT", 3, AR_WPNav, _overshoot, AR_WPNAV_OVERSHOOT_DEFAULT),
// @Param: PIVOT_ANGLE
// @DisplayName: Waypoint Pivot Angle
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// @Description: Pivot when the difference between the vehicle's heading and its target heading is more than this many degrees. Set to zero to disable pivot turns. Note: This parameter should be greater than 10 degrees for pivot turns to work.
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// @Units: deg
// @Range: 0 360
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PIVOT_ANGLE", 4, AR_WPNav, _pivot_angle, AR_WPNAV_PIVOT_ANGLE_DEFAULT),
// @Param: PIVOT_RATE
// @DisplayName: Waypoint Pivot Turn Rate
// @Description: Turn rate during pivot turns
// @Units: deg/s
// @Range: 0 360
// @Increment: 1
// @User: Standard
AP_GROUPINFO("PIVOT_RATE", 5, AR_WPNav, _pivot_rate, AR_WPNAV_PIVOT_RATE_DEFAULT),
// @Param: SPEED_MIN
// @DisplayName: Waypoint speed minimum
// @Description: Vehicle will not slow below this speed for corners. Should be set to boat's plane speed. Does not apply to pivot turns.
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("SPEED_MIN", 6, AR_WPNav, _speed_min, 0),
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// @Param: PIVOT_DELAY
// @DisplayName: Delay after pivot turn
// @Description: Waiting time after pivot turn
// @Units: s
// @Range: 0 60
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("PIVOT_DELAY", 7, AR_WPNav, _pivot_delay, 0),
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AP_GROUPEND
};
AR_WPNav::AR_WPNav(AR_AttitudeControl& atc, AP_Navigation& nav_controller) :
_atc(atc),
_nav_controller(nav_controller)
{
AP_Param::setup_object_defaults(this, var_info);
}
// update navigation
void AR_WPNav::update(float dt)
{
// exit immediately if no current location, origin or destination
Location current_loc;
float speed;
if (!hal.util->get_soft_armed() || !_orig_and_dest_valid || !AP::ahrs().get_position(current_loc) || !_atc.get_forward_speed(speed)) {
_desired_speed_limited = _atc.get_desired_speed_accel_limited(0.0f, dt);
_desired_turn_rate_rads = 0.0f;
return;
}
// if no recent calls initialise desired_speed_limited to current speed
if (!is_active()) {
_desired_speed_limited = speed;
}
_last_update_ms = AP_HAL::millis();
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// run path planning around obstacles
bool stop_vehicle = false;
// true if OA has been recently active;
bool _oa_was_active = _oa_active;
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AP_OAPathPlanner *oa = AP_OAPathPlanner::get_singleton();
if (oa != nullptr) {
AP_OAPathPlanner::OAPathPlannerUsed path_planner_used;
const AP_OAPathPlanner::OA_RetState oa_retstate = oa->mission_avoidance(current_loc, _origin, _destination, _oa_origin, _oa_destination, path_planner_used);
switch (oa_retstate) {
case AP_OAPathPlanner::OA_NOT_REQUIRED:
_oa_active = false;
break;
case AP_OAPathPlanner::OA_PROCESSING:
case AP_OAPathPlanner::OA_ERROR:
// during processing or in case of error, slow vehicle to a stop
stop_vehicle = true;
_oa_active = false;
break;
case AP_OAPathPlanner::OA_SUCCESS:
_oa_active = true;
break;
}
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}
if (!_oa_active) {
_oa_origin = _origin;
_oa_destination = _destination;
}
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update_distance_and_bearing_to_destination();
// if object avoidance is active check if vehicle should pivot towards destination
if (_oa_active) {
update_pivot_active_flag();
}
// check if vehicle is in recovering state after switching off OA
if (!_oa_active && _oa_was_active) {
if (oa->get_options() & AP_OAPathPlanner::OA_OPTION_WP_RESET) {
//reset wp origin to vehicles current location
_origin = current_loc;
}
}
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// check if vehicle has reached the destination
const bool near_wp = _distance_to_destination <= _radius;
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const bool past_wp = !_oa_active && current_loc.past_interval_finish_line(_origin, _destination);
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if (!_reached_destination && (near_wp || past_wp)) {
_reached_destination = true;
}
// handle stopping vehicle if avoidance has failed
if (stop_vehicle) {
// decelerate to speed to zero and set turn rate to zero
_desired_speed_limited = _atc.get_desired_speed_accel_limited(0.0f, dt);
_desired_lat_accel = 0.0f;
_desired_turn_rate_rads = 0.0f;
return;
}
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// calculate the required turn of the wheels
update_steering(current_loc, speed);
// calculate desired speed
update_desired_speed(dt);
}
// set desired location
bool AR_WPNav::set_desired_location(const struct Location& destination, float next_leg_bearing_cd)
{
// set origin to last destination if waypoint controller active
if (is_active() && _orig_and_dest_valid && _reached_destination) {
_origin = _destination;
} else {
// otherwise use reasonable stopping point
if (!get_stopping_location(_origin)) {
return false;
}
}
// initialise some variables
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_oa_origin = _origin;
_oa_destination = _destination = destination;
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_orig_and_dest_valid = true;
_reached_destination = false;
update_distance_and_bearing_to_destination();
// determine if we should pivot immediately
update_pivot_active_flag();
// set final desired speed and whether vehicle should pivot
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_desired_speed_final = 0.0f;
if (!is_equal(next_leg_bearing_cd, AR_WPNAV_HEADING_UNKNOWN)) {
const float curr_leg_bearing_cd = _origin.get_bearing_to(_destination);
const float turn_angle_cd = wrap_180_cd(next_leg_bearing_cd - curr_leg_bearing_cd);
if (fabsf(turn_angle_cd) < 10.0f) {
// if turning less than 0.1 degrees vehicle can continue at full speed
// we use 0.1 degrees instead of zero to avoid divide by zero in calcs below
_desired_speed_final = _desired_speed;
} else if (use_pivot_steering_at_next_WP(turn_angle_cd)) {
// pivoting so we will stop
_desired_speed_final = 0.0f;
} else {
// calculate maximum speed that keeps overshoot within bounds
const float radius_m = fabsf(_overshoot / (cosf(radians(turn_angle_cd * 0.01f)) - 1.0f));
_desired_speed_final = MIN(_desired_speed, safe_sqrt(_atc.get_turn_lat_accel_max() * radius_m));
// ensure speed does not fall below minimum
apply_speed_min(_desired_speed_final);
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}
}
return true;
}
// set desired location to a reasonable stopping point, return true on success
bool AR_WPNav::set_desired_location_to_stopping_location()
{
Location stopping_loc;
if (!get_stopping_location(stopping_loc)) {
return false;
}
return set_desired_location(stopping_loc);
}
// set desired location as offset from the EKF origin, return true on success
bool AR_WPNav::set_desired_location_NED(const Vector3f& destination, float next_leg_bearing_cd)
{
// initialise destination to ekf origin
Location destination_ned;
if (!AP::ahrs().get_origin(destination_ned)) {
return false;
}
// apply offset
destination_ned.offset(destination.x, destination.y);
return set_desired_location(destination_ned, next_leg_bearing_cd);
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}
// calculate vehicle stopping point using current location, velocity and maximum acceleration
bool AR_WPNav::get_stopping_location(Location& stopping_loc)
{
Location current_loc;
if (!AP::ahrs().get_position(current_loc)) {
return false;
}
// get current velocity vector and speed
const Vector2f velocity = AP::ahrs().groundspeed_vector();
const float speed = velocity.length();
// avoid divide by zero
if (!is_positive(speed)) {
stopping_loc = current_loc;
return true;
}
// get stopping distance in meters
const float stopping_dist = _atc.get_stopping_distance(speed);
// calculate stopping position from current location in meters
const Vector2f stopping_offset = velocity.normalized() * stopping_dist;
stopping_loc = current_loc;
stopping_loc.offset(stopping_offset.x, stopping_offset.y);
return true;
}
// returns true if vehicle should pivot turn at next waypoint
bool AR_WPNav::use_pivot_steering_at_next_WP(float yaw_error_cd) const
{
// check cases where we clearly cannot use pivot steering
if (!_pivot_possible || _pivot_angle <= AR_WPNAV_PIVOT_ANGLE_ACCURACY) {
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return false;
}
// if error is larger than _pivot_angle then use pivot steering at next WP
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if (fabsf(yaw_error_cd) * 0.01f > _pivot_angle) {
return true;
}
return false;
}
// updates _pivot_active flag based on heading error to destination
// relies on update_distance_and_bearing_to_destination having been called first
// to update _oa_wp_bearing and _reversed variables
void AR_WPNav::update_pivot_active_flag()
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{
// check cases where we clearly cannot use pivot steering
if (!_pivot_possible || (_pivot_angle <= AR_WPNAV_PIVOT_ANGLE_ACCURACY)) {
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_pivot_active = false;
return;
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}
// calc yaw error
const float yaw_cd = _reversed ? wrap_360_cd(_oa_wp_bearing_cd + 18000) : _oa_wp_bearing_cd;
const float yaw_error = fabsf(wrap_180_cd(yaw_cd - AP::ahrs().yaw_sensor)) * 0.01f;
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// if error is larger than _pivot_angle start pivot steering
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if (yaw_error > _pivot_angle) {
_pivot_active = true;
return;
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}
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uint32_t now = AP_HAL::millis();
// if within 10 degrees of the target heading, set start time of pivot steering
if (_pivot_active && yaw_error < AR_WPNAV_PIVOT_ANGLE_ACCURACY && _pivot_start_ms == 0) {
_pivot_start_ms = now;
}
// exit pivot steering after the time set by pivot_delay has elapsed
if (_pivot_start_ms > 0 && now - _pivot_start_ms >= constrain_float(_pivot_delay.get(), 0.0f, 60.0f) * 1000.0f) {
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_pivot_active = false;
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_pivot_start_ms = 0;
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}
}
// true if update has been called recently
bool AR_WPNav::is_active() const
{
return ((AP_HAL::millis() - _last_update_ms) < AR_WPNAV_TIMEOUT_MS);
}
// update distance from vehicle's current position to destination
void AR_WPNav::update_distance_and_bearing_to_destination()
{
// if no current location leave distance unchanged
Location current_loc;
if (!_orig_and_dest_valid || !AP::ahrs().get_position(current_loc)) {
_distance_to_destination = 0.0f;
_wp_bearing_cd = 0.0f;
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// update OA adjusted values
_oa_distance_to_destination = 0.0f;
_oa_wp_bearing_cd = 0.0f;
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return;
}
_distance_to_destination = current_loc.get_distance(_destination);
_wp_bearing_cd = current_loc.get_bearing_to(_destination);
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// update OA adjusted values
if (_oa_active) {
_oa_distance_to_destination = current_loc.get_distance(_oa_destination);
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_oa_wp_bearing_cd = current_loc.get_bearing_to(_oa_destination);
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} else {
_oa_distance_to_destination = _distance_to_destination;
_oa_wp_bearing_cd = _wp_bearing_cd;
}
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}
// calculate steering output to drive along line from origin to destination waypoint
// relies on update_distance_and_bearing_to_destination being called first so _wp_bearing_cd has been updated
void AR_WPNav::update_steering(const Location& current_loc, float current_speed)
{
// calculate desired turn rate and update desired heading
if (_pivot_active) {
_cross_track_error = calc_crosstrack_error(current_loc);
_desired_heading_cd = _reversed ? wrap_360_cd(_oa_wp_bearing_cd + 18000) : _oa_wp_bearing_cd;;
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_desired_lat_accel = 0.0f;
_desired_turn_rate_rads = _atc.get_turn_rate_from_heading(radians(_desired_heading_cd * 0.01f), radians(_pivot_rate));
// update flag so that it can be cleared
update_pivot_active_flag();
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} else {
// run L1 controller
_nav_controller.set_reverse(_reversed);
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_nav_controller.update_waypoint(_reached_destination ? current_loc : _oa_origin, _oa_destination, _radius);
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// retrieve lateral acceleration, heading back towards line and crosstrack error
_desired_lat_accel = constrain_float(_nav_controller.lateral_acceleration(), -_atc.get_turn_lat_accel_max(), _atc.get_turn_lat_accel_max());
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_desired_heading_cd = wrap_360_cd(_nav_controller.nav_bearing_cd());
if (_reversed) {
_desired_lat_accel *= -1.0f;
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_desired_heading_cd = wrap_360_cd(_desired_heading_cd + 18000);
}
_cross_track_error = _nav_controller.crosstrack_error();
_desired_turn_rate_rads = _atc.get_turn_rate_from_lat_accel(_desired_lat_accel, current_speed);
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}
}
// calculated desired speed(in m/s) based on yaw error and lateral acceleration and/or distance to a waypoint
// relies on update_distance_and_bearing_to_destination and update_steering being run so these internal members
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// have been updated: _oa_wp_bearing_cd, _cross_track_error, _oa_distance_to_destination
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void AR_WPNav::update_desired_speed(float dt)
{
// reduce speed to zero during pivot turns
if (_pivot_active) {
// decelerate to zero
_desired_speed_limited = _atc.get_desired_speed_accel_limited(0.0f, dt);
return;
}
// accelerate desired speed towards max
float des_speed_lim = _atc.get_desired_speed_accel_limited(_reversed ? -_desired_speed : _desired_speed, dt);
// reduce speed to limit overshoot from line between origin and destination
// calculate number of degrees vehicle must turn to face waypoint
float ahrs_yaw_sensor = AP::ahrs().yaw_sensor;
const float heading_cd = is_negative(des_speed_lim) ? wrap_180_cd(ahrs_yaw_sensor + 18000) : ahrs_yaw_sensor;
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const float wp_yaw_diff_cd = wrap_180_cd(_oa_wp_bearing_cd - heading_cd);
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const float turn_angle_rad = fabsf(radians(wp_yaw_diff_cd * 0.01f));
// calculate distance from vehicle to line + wp_overshoot
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const float line_yaw_diff = wrap_180_cd(_oa_origin.get_bearing_to(_oa_destination) - heading_cd);
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const float dist_from_line = fabsf(_cross_track_error);
const bool heading_away = is_positive(line_yaw_diff) == is_positive(_cross_track_error);
const float wp_overshoot_adj = heading_away ? -dist_from_line : dist_from_line;
// calculate radius of circle that touches vehicle's current position and heading and target position and heading
float radius_m = 999.0f;
const float radius_calc_denom = fabsf(1.0f - cosf(turn_angle_rad));
if (!is_zero(radius_calc_denom)) {
radius_m = MAX(0.0f, _overshoot + wp_overshoot_adj) / radius_calc_denom;
}
// calculate and limit speed to allow vehicle to stay on circle
// ensure limit does not force speed below minimum
float overshoot_speed_max = safe_sqrt(_atc.get_turn_lat_accel_max() * MAX(_turn_radius, radius_m));
apply_speed_min(overshoot_speed_max);
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des_speed_lim = constrain_float(des_speed_lim, -overshoot_speed_max, overshoot_speed_max);
// limit speed based on distance to waypoint and max acceleration/deceleration
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if (is_positive(_oa_distance_to_destination) && is_positive(_atc.get_decel_max())) {
const float dist_speed_max = safe_sqrt(2.0f * _oa_distance_to_destination * _atc.get_decel_max() + sq(_desired_speed_final));
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des_speed_lim = constrain_float(des_speed_lim, -dist_speed_max, dist_speed_max);
}
_desired_speed_limited = des_speed_lim;
}
// settor to allow vehicle code to provide turn related param values to this library (should be updated regularly)
void AR_WPNav::set_turn_params(float turn_radius, bool pivot_possible)
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{
_turn_radius = turn_radius;
_pivot_possible = pivot_possible;
}
// adjust speed to ensure it does not fall below value held in SPEED_MIN
// desired_speed should always be positive (or zero)
void AR_WPNav::apply_speed_min(float &desired_speed) const
{
if (!is_positive(_speed_min) || (_speed_min > _speed_max)) {
return;
}
// ensure speed does not fall below minimum
desired_speed = MAX(desired_speed, _speed_min);
}
// calculate the crosstrack error (does not rely on L1 controller)
float AR_WPNav::calc_crosstrack_error(const Location& current_loc) const
{
if (!_orig_and_dest_valid) {
return 0.0f;
}
// calculate the NE position of destination relative to origin
Vector2f dest_from_origin = _oa_origin.get_distance_NE(_oa_destination);
// return distance to origin if length of track is very small
if (dest_from_origin.length() < 1.0e-6f) {
return current_loc.get_distance_NE(_oa_destination).length();
}
// convert to a vector indicating direction only
dest_from_origin.normalize();
// calculate the NE position of the vehicle relative to origin
const Vector2f veh_from_origin = _oa_origin.get_distance_NE(current_loc);
// calculate distance to target track, for reporting
return veh_from_origin % dest_from_origin;
}