ardupilot/libraries/AC_Avoidance/AC_Avoid.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.
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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 "AC_Avoid.h"
#include <AP_AHRS/AP_AHRS.h> // AHRS library
#include <AC_Fence/AC_Fence.h> // Failsafe fence library
#include <AP_Proximity/AP_Proximity.h>
#include <AP_Beacon/AP_Beacon.h>
#if APM_BUILD_TYPE(APM_BUILD_APMrover2)
# define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_STOP
#else
# define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_SLIDE
#endif
const AP_Param::GroupInfo AC_Avoid::var_info[] = {
// @Param: ENABLE
// @DisplayName: Avoidance control enable/disable
// @Description: Enabled/disable avoidance input sources
// @Values: 0:None,1:UseFence,2:UseProximitySensor,3:UseFence and UseProximitySensor,4:UseBeaconFence,7:All
// @Bitmask: 0:UseFence,1:UseProximitySensor,2:UseBeaconFence
// @User: Standard
AP_GROUPINFO("ENABLE", 1, AC_Avoid, _enabled, AC_AVOID_DEFAULT),
// @Param: ANGLE_MAX
// @DisplayName: Avoidance max lean angle in non-GPS flight modes
// @Description: Max lean angle used to avoid obstacles while in non-GPS modes
// @Units: cdeg
// @Range: 0 4500
// @User: Standard
AP_GROUPINFO("ANGLE_MAX", 2, AC_Avoid, _angle_max, 1000),
// @Param: DIST_MAX
// @DisplayName: Avoidance distance maximum in non-GPS flight modes
// @Description: Distance from object at which obstacle avoidance will begin in non-GPS modes
// @Units: m
// @Range: 1 30
// @User: Standard
AP_GROUPINFO("DIST_MAX", 3, AC_Avoid, _dist_max, AC_AVOID_NONGPS_DIST_MAX_DEFAULT),
// @Param: MARGIN
// @DisplayName: Avoidance distance margin in GPS modes
// @Description: Vehicle will attempt to stay at least this distance (in meters) from objects while in GPS modes
// @Units: m
// @Range: 1 10
// @User: Standard
AP_GROUPINFO("MARGIN", 4, AC_Avoid, _margin, 2.0f),
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// @Param: BEHAVE
// @DisplayName: Avoidance behaviour
// @Description: Avoidance behaviour (slide or stop)
// @Values: 0:Slide,1:Stop
// @User: Standard
AP_GROUPINFO("BEHAVE", 5, AC_Avoid, _behavior, AP_AVOID_BEHAVE_DEFAULT),
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AP_GROUPEND
};
/// Constructor
AC_Avoid::AC_Avoid()
{
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_singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
void AC_Avoid::adjust_velocity(float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)
{
// exit immediately if disabled
if (_enabled == AC_AVOID_DISABLED) {
return;
}
// limit acceleration
const float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX);
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0) {
adjust_velocity_circle_fence(kP, accel_cmss_limited, desired_vel_cms, dt);
adjust_velocity_polygon_fence(kP, accel_cmss_limited, desired_vel_cms, dt);
}
if ((_enabled & AC_AVOID_STOP_AT_BEACON_FENCE) > 0) {
adjust_velocity_beacon_fence(kP, accel_cmss_limited, desired_vel_cms, dt);
}
if ((_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) > 0 && _proximity_enabled) {
adjust_velocity_proximity(kP, accel_cmss_limited, desired_vel_cms, dt);
}
}
// convenience function to accept Vector3f. Only x and y are adjusted
void AC_Avoid::adjust_velocity(float kP, float accel_cmss, Vector3f &desired_vel_cms, float dt)
{
Vector2f des_vel_xy(desired_vel_cms.x, desired_vel_cms.y);
adjust_velocity(kP, accel_cmss, des_vel_xy, dt);
desired_vel_cms.x = des_vel_xy.x;
desired_vel_cms.y = des_vel_xy.y;
}
// adjust desired horizontal speed so that the vehicle stops before the fence or object
// accel (maximum acceleration/deceleration) is in m/s/s
// heading is in radians
// speed is in m/s
// kP should be zero for linear response, non-zero for non-linear response
void AC_Avoid::adjust_speed(float kP, float accel, float heading, float &speed, float dt)
{
// convert heading and speed into velocity vector
Vector2f vel_xy;
vel_xy.x = cosf(heading) * speed * 100.0f;
vel_xy.y = sinf(heading) * speed * 100.0f;
adjust_velocity(kP, accel * 100.0f, vel_xy, dt);
// adjust speed towards zero
if (is_negative(speed)) {
speed = -vel_xy.length() * 0.01f;
} else {
speed = vel_xy.length() * 0.01f;
}
}
// adjust vertical climb rate so vehicle does not break the vertical fence
void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_cms, float dt)
{
// exit immediately if disabled
if (_enabled == AC_AVOID_DISABLED) {
return;
}
// do not adjust climb_rate if level or descending
if (climb_rate_cms <= 0.0f) {
return;
}
// limit acceleration
const float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX);
bool limit_alt = false;
float alt_diff = 0.0f; // distance from altitude limit to vehicle in metres (positive means vehicle is below limit)
const AP_AHRS &_ahrs = AP::ahrs();
// calculate distance below fence
AC_Fence *fence = AP::fence();
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0 && fence && (fence->get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) > 0) {
// calculate distance from vehicle to safe altitude
float veh_alt;
_ahrs.get_relative_position_D_home(veh_alt);
// _fence.get_safe_alt_max() is UP, veh_alt is DOWN:
alt_diff = fence->get_safe_alt_max() + veh_alt;
limit_alt = true;
}
// calculate distance to (e.g.) optical flow altitude limit
// AHRS values are always in metres
float alt_limit;
float curr_alt;
if (_ahrs.get_hgt_ctrl_limit(alt_limit) &&
_ahrs.get_relative_position_D_origin(curr_alt)) {
// alt_limit is UP, curr_alt is DOWN:
const float ctrl_alt_diff = alt_limit + curr_alt;
if (!limit_alt || ctrl_alt_diff < alt_diff) {
alt_diff = ctrl_alt_diff;
limit_alt = true;
}
}
// get distance from proximity sensor
float proximity_alt_diff;
AP_Proximity *proximity = AP::proximity();
if (proximity && proximity->get_upward_distance(proximity_alt_diff)) {
proximity_alt_diff -= _margin;
if (!limit_alt || proximity_alt_diff < alt_diff) {
alt_diff = proximity_alt_diff;
limit_alt = true;
}
}
// limit climb rate
if (limit_alt) {
// do not allow climbing if we've breached the safe altitude
if (alt_diff <= 0.0f) {
climb_rate_cms = MIN(climb_rate_cms, 0.0f);
return;
}
// limit climb rate
const float max_speed = get_max_speed(kP, accel_cmss_limited, alt_diff*100.0f, dt);
climb_rate_cms = MIN(max_speed, climb_rate_cms);
}
}
// adjust roll-pitch to push vehicle away from objects
// roll and pitch value are in centi-degrees
void AC_Avoid::adjust_roll_pitch(float &roll, float &pitch, float veh_angle_max)
{
// exit immediately if proximity based avoidance is disabled
if ((_enabled & AC_AVOID_USE_PROXIMITY_SENSOR) == 0 || !_proximity_enabled) {
return;
}
// exit immediately if angle max is zero
if (_angle_max <= 0.0f || veh_angle_max <= 0.0f) {
return;
}
float roll_positive = 0.0f; // maximum positive roll value
float roll_negative = 0.0f; // minimum negative roll value
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float pitch_positive = 0.0f; // maximum positive pitch value
float pitch_negative = 0.0f; // minimum negative pitch value
// get maximum positive and negative roll and pitch percentages from proximity sensor
get_proximity_roll_pitch_pct(roll_positive, roll_negative, pitch_positive, pitch_negative);
// add maximum positive and negative percentages together for roll and pitch, convert to centi-degrees
Vector2f rp_out((roll_positive + roll_negative) * 4500.0f, (pitch_positive + pitch_negative) * 4500.0f);
// apply avoidance angular limits
// the object avoidance lean angle is never more than 75% of the total angle-limit to allow the pilot to override
const float angle_limit = constrain_float(_angle_max, 0.0f, veh_angle_max * AC_AVOID_ANGLE_MAX_PERCENT);
float vec_len = rp_out.length();
if (vec_len > angle_limit) {
rp_out *= (angle_limit / vec_len);
}
// add passed in roll, pitch angles
rp_out.x += roll;
rp_out.y += pitch;
// apply total angular limits
vec_len = rp_out.length();
if (vec_len > veh_angle_max) {
rp_out *= (veh_angle_max / vec_len);
}
// return adjusted roll, pitch
roll = rp_out.x;
pitch = rp_out.y;
}
/*
* Limits the component of desired_vel_cms in the direction of the unit vector
* limit_direction to be at most the maximum speed permitted by the limit_distance_cm.
*
* Uses velocity adjustment idea from Randy's second email on this thread:
* https://groups.google.com/forum/#!searchin/drones-discuss/obstacle/drones-discuss/QwUXz__WuqY/qo3G8iTLSJAJ
*/
void AC_Avoid::limit_velocity(float kP, float accel_cmss, Vector2f &desired_vel_cms, const Vector2f& limit_direction, float limit_distance_cm, float dt) const
{
const float max_speed = get_max_speed(kP, accel_cmss, limit_distance_cm, dt);
// project onto limit direction
const float speed = desired_vel_cms * limit_direction;
if (speed > max_speed) {
// subtract difference between desired speed and maximum acceptable speed
desired_vel_cms += limit_direction*(max_speed - speed);
}
}
/*
* Computes the speed such that the stopping distance
* of the vehicle will be exactly the input distance.
*/
float AC_Avoid::get_max_speed(float kP, float accel_cmss, float distance_cm, float dt) const
{
if (is_zero(kP)) {
return safe_sqrt(2.0f * distance_cm * accel_cmss);
} else {
return AC_AttitudeControl::sqrt_controller(distance_cm, kP, accel_cmss, dt);
}
}
/*
* Adjusts the desired velocity for the circular fence.
*/
void AC_Avoid::adjust_velocity_circle_fence(float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)
{
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
}
AC_Fence &_fence = *fence;
// exit if circular fence is not enabled
if ((_fence.get_enabled_fences() & AC_FENCE_TYPE_CIRCLE) == 0) {
return;
}
// exit if the circular fence has already been breached
if ((_fence.get_breaches() & AC_FENCE_TYPE_CIRCLE) != 0) {
return;
}
// get desired speed
const float desired_speed = desired_vel_cms.length();
if (is_zero(desired_speed)) {
// no avoidance necessary when desired speed is zero
return;
}
const AP_AHRS &_ahrs = AP::ahrs();
// get position as a 2D offset from ahrs home
Vector2f position_xy;
if (!_ahrs.get_relative_position_NE_home(position_xy)) {
// we have no idea where we are....
return;
}
position_xy *= 100.0f; // m -> cm
// get the fence radius in cm
const float fence_radius = _fence.get_radius() * 100.0f;
// get the margin to the fence in cm
const float margin_cm = _fence.get_margin() * 100.0f;
// get vehicle distance from home
const float dist_from_home = position_xy.length();
if (dist_from_home > fence_radius) {
// outside of circular fence, no velocity adjustments
return;
}
// vehicle is inside the circular fence
if ((AC_Avoid::BehaviourType)_behavior.get() == BEHAVIOR_SLIDE) {
// implement sliding behaviour
const Vector2f stopping_point = position_xy + desired_vel_cms*(get_stopping_distance(kP, accel_cmss, desired_speed)/desired_speed);
const float stopping_point_dist_from_home = stopping_point.length();
if (stopping_point_dist_from_home <= fence_radius - margin_cm) {
// stopping before before fence so no need to adjust
return;
}
// unsafe desired velocity - will not be able to stop before reaching margin from fence
// Project stopping point radially onto fence boundary
// Adjusted velocity will point towards this projected point at a safe speed
const Vector2f target_offset = stopping_point * ((fence_radius - margin_cm) / stopping_point_dist_from_home);
const Vector2f target_direction = target_offset - position_xy;
const float distance_to_target = target_direction.length();
const float max_speed = get_max_speed(kP, accel_cmss, distance_to_target, dt);
desired_vel_cms = target_direction * (MIN(desired_speed,max_speed) / distance_to_target);
} else {
// implement stopping behaviour
// calculate stopping point plus a margin so we look forward far enough to intersect with circular fence
const Vector2f stopping_point_plus_margin = position_xy + desired_vel_cms*((2.0f + margin_cm + get_stopping_distance(kP, accel_cmss, desired_speed))/desired_speed);
const float stopping_point_plus_margin_dist_from_home = stopping_point_plus_margin.length();
if (dist_from_home >= fence_radius - margin_cm) {
// if vehicle has already breached margin around fence
// if stopping point is even further from home (i.e. in wrong direction) then adjust speed to zero
// otherwise user is backing away from fence so do not apply limits
if (stopping_point_plus_margin_dist_from_home >= dist_from_home) {
desired_vel_cms.zero();
}
} else {
// shorten vector without adjusting its direction
Vector2f intersection;
if (Vector2f::circle_segment_intersection(position_xy, stopping_point_plus_margin, Vector2f(0.0f,0.0f), fence_radius - margin_cm, intersection)) {
const float distance_to_target = MAX((intersection - position_xy).length() - margin_cm, 0.0f);
const float max_speed = get_max_speed(kP, accel_cmss, distance_to_target, dt);
if (max_speed < desired_speed) {
desired_vel_cms *= MAX(max_speed, 0.0f) / desired_speed;
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}
}
}
}
}
/*
* Adjusts the desired velocity for the polygon fence.
*/
void AC_Avoid::adjust_velocity_polygon_fence(float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)
{
AC_Fence *fence = AP::fence();
if (fence == nullptr) {
return;
}
AC_Fence &_fence = *fence;
// exit if the polygon fence is not enabled
if ((_fence.get_enabled_fences() & AC_FENCE_TYPE_POLYGON) == 0) {
return;
}
// exit if the polygon fence has already been breached
if ((_fence.get_breaches() & AC_FENCE_TYPE_POLYGON) != 0) {
return;
}
// get polygon boundary
uint16_t num_points;
const Vector2f* boundary = _fence.get_boundary_points(num_points);
// adjust velocity using polygon
adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, true, _fence.get_margin(), dt);
}
/*
* Adjusts the desired velocity for the beacon fence.
*/
void AC_Avoid::adjust_velocity_beacon_fence(float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)
{
AP_Beacon *_beacon = AP::beacon();
// exit if the beacon is not present
if (_beacon == nullptr) {
return;
}
// get boundary from beacons
uint16_t num_points;
const Vector2f* boundary = _beacon->get_boundary_points(num_points);
if (boundary == nullptr || num_points == 0) {
return;
}
// adjust velocity using beacon
float margin = 0;
if (AP::fence()) {
margin = AP::fence()->get_margin();
}
adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, true, margin, dt);
}
/*
* Adjusts the desired velocity based on output from the proximity sensor
*/
void AC_Avoid::adjust_velocity_proximity(float kP, float accel_cmss, Vector2f &desired_vel_cms, float dt)
{
// exit immediately if proximity sensor is not present
AP_Proximity *proximity = AP::proximity();
if (!proximity) {
return;
}
AP_Proximity &_proximity = *proximity;
if (_proximity.get_status() != AP_Proximity::Proximity_Good) {
return;
}
// get boundary from proximity sensor
uint16_t num_points;
const Vector2f *boundary = _proximity.get_boundary_points(num_points);
adjust_velocity_polygon(kP, accel_cmss, desired_vel_cms, boundary, num_points, false, _margin, dt);
}
/*
* Adjusts the desired velocity for the polygon fence.
*/
void AC_Avoid::adjust_velocity_polygon(float kP, float accel_cmss, Vector2f &desired_vel_cms, const Vector2f* boundary, uint16_t num_points, bool earth_frame, float margin, float dt)
{
// exit if there are no points
if (boundary == nullptr || num_points == 0) {
return;
}
// exit immediately if no desired velocity
if (desired_vel_cms.is_zero()) {
return;
}
const AP_AHRS &_ahrs = AP::ahrs();
// do not adjust velocity if vehicle is outside the polygon fence
Vector2f position_xy;
if (earth_frame) {
if (!_ahrs.get_relative_position_NE_origin(position_xy)) {
// boundary is in earth frame but we have no idea
// where we are
return;
}
position_xy = position_xy * 100.0f; // m to cm
}
if (Polygon_outside(position_xy, boundary, num_points)) {
return;
}
// Safe_vel will be adjusted to remain within fence.
// We need a separate vector in case adjustment fails,
// e.g. if we are exactly on the boundary.
Vector2f safe_vel(desired_vel_cms);
// if boundary points are in body-frame, rotate velocity vector from earth frame to body-frame
if (!earth_frame) {
safe_vel.x = desired_vel_cms.y * _ahrs.sin_yaw() + desired_vel_cms.x * _ahrs.cos_yaw(); // right
safe_vel.y = desired_vel_cms.y * _ahrs.cos_yaw() - desired_vel_cms.x * _ahrs.sin_yaw(); // forward
}
// calc margin in cm
const float margin_cm = MAX(margin * 100.0f, 0.0f);
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// for stopping
const float speed = safe_vel.length();
const Vector2f stopping_point_plus_margin = position_xy + safe_vel*((2.0f + margin_cm + get_stopping_distance(kP, accel_cmss, speed))/speed);
for (uint16_t i=0; i<num_points; i++) {
uint16_t j = i+1;
if (j >= num_points) {
j = 0;
}
// end points of current edge
Vector2f start = boundary[j];
Vector2f end = boundary[i];
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if ((AC_Avoid::BehaviourType)_behavior.get() == BEHAVIOR_SLIDE) {
// vector from current position to closest point on current edge
Vector2f limit_direction = Vector2f::closest_point(position_xy, start, end) - position_xy;
// distance to closest point
const float limit_distance_cm = limit_direction.length();
if (!is_zero(limit_distance_cm)) {
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// We are strictly inside the given edge.
// Adjust velocity to not violate this edge.
limit_direction /= limit_distance_cm;
limit_velocity(kP, accel_cmss, safe_vel, limit_direction, MAX(limit_distance_cm - margin_cm, 0.0f), dt);
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} else {
// We are exactly on the edge - treat this as a fence breach.
// i.e. do not adjust velocity.
return;
}
} else {
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// find intersection with line segment
Vector2f intersection;
if (Vector2f::segment_intersection(position_xy, stopping_point_plus_margin, start, end, intersection)) {
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// vector from current position to point on current edge
Vector2f limit_direction = intersection - position_xy;
const float limit_distance_cm = limit_direction.length();
if (!is_zero(limit_distance_cm)) {
if (limit_distance_cm <= margin_cm) {
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// we are within the margin so stop vehicle
safe_vel.zero();
} else {
// vehicle inside the given edge, adjust velocity to not violate this edge
limit_direction /= limit_distance_cm;
limit_velocity(kP, accel_cmss, safe_vel, limit_direction, MAX(limit_distance_cm - margin_cm, 0.0f), dt);
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}
} else {
// We are exactly on the edge - treat this as a fence breach.
// i.e. do not adjust velocity.
return;
}
}
}
}
// set modified desired velocity vector
if (earth_frame) {
desired_vel_cms = safe_vel;
} else {
// if points were in body-frame, rotate resulting vector back to earth-frame
desired_vel_cms.x = safe_vel.x * _ahrs.cos_yaw() - safe_vel.y * _ahrs.sin_yaw();
desired_vel_cms.y = safe_vel.x * _ahrs.sin_yaw() + safe_vel.y * _ahrs.cos_yaw();
}
}
/*
* Computes distance required to stop, given current speed.
*
* Implementation copied from AC_PosControl.
*/
float AC_Avoid::get_stopping_distance(float kP, float accel_cmss, float speed_cms) const
{
// avoid divide by zero by using current position if the velocity is below 10cm/s, kP is very low or acceleration is zero
if (accel_cmss <= 0.0f || is_zero(speed_cms)) {
return 0.0f;
}
// handle linear deceleration
if (kP <= 0.0f) {
return 0.5f * sq(speed_cms) / accel_cmss;
}
// calculate distance within which we can stop
// accel_cmss/kP is the point at which velocity switches from linear to sqrt
if (speed_cms < accel_cmss/kP) {
return speed_cms/kP;
} else {
// accel_cmss/(2.0f*kP*kP) is the distance at which we switch from linear to sqrt response
return accel_cmss/(2.0f*kP*kP) + (speed_cms*speed_cms)/(2.0f*accel_cmss);
}
}
// convert distance (in meters) to a lean percentage (in 0~1 range) for use in manual flight modes
float AC_Avoid::distance_to_lean_pct(float dist_m)
{
// ignore objects beyond DIST_MAX
if (dist_m < 0.0f || dist_m >= _dist_max || _dist_max <= 0.0f) {
return 0.0f;
}
// inverted but linear response
return 1.0f - (dist_m / _dist_max);
}
// returns the maximum positive and negative roll and pitch percentages (in -1 ~ +1 range) based on the proximity sensor
void AC_Avoid::get_proximity_roll_pitch_pct(float &roll_positive, float &roll_negative, float &pitch_positive, float &pitch_negative)
{
AP_Proximity *proximity = AP::proximity();
if (proximity == nullptr) {
return;
}
AP_Proximity &_proximity = *proximity;
// exit immediately if proximity sensor is not present
if (_proximity.get_status() != AP_Proximity::Proximity_Good) {
return;
}
const uint8_t obj_count = _proximity.get_object_count();
// if no objects return
if (obj_count == 0) {
return;
}
// calculate maximum roll, pitch values from objects
for (uint8_t i=0; i<obj_count; i++) {
float ang_deg, dist_m;
if (_proximity.get_object_angle_and_distance(i, ang_deg, dist_m)) {
if (dist_m < _dist_max) {
// convert distance to lean angle (in 0 to 1 range)
const float lean_pct = distance_to_lean_pct(dist_m);
// convert angle to roll and pitch lean percentages
const float angle_rad = radians(ang_deg);
const float roll_pct = -sinf(angle_rad) * lean_pct;
const float pitch_pct = cosf(angle_rad) * lean_pct;
// update roll, pitch maximums
if (roll_pct > 0.0f) {
roll_positive = MAX(roll_positive, roll_pct);
} else if (roll_pct < 0.0f) {
roll_negative = MIN(roll_negative, roll_pct);
}
if (pitch_pct > 0.0f) {
pitch_positive = MAX(pitch_positive, pitch_pct);
} else if (pitch_pct < 0.0f) {
pitch_negative = MIN(pitch_negative, pitch_pct);
}
}
}
}
}
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// singleton instance
AC_Avoid *AC_Avoid::_singleton;
namespace AP {
AC_Avoid *ac_avoid()
{
return AC_Avoid::get_singleton();
}
}