ardupilot/ArduPlane/soaring.cpp

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#include "Plane.h"
#if SOARING_ENABLED == ENABLED
/*
* ArduSoar support function
*
* Peter Braswell, Samuel Tabor, Andrey Kolobov, and Iain Guilliard
*/
void Plane::update_soaring() {
// Check if soaring is active. Also sets throttle suppressed
// status on active state changes.
plane.g2.soaring_controller.update_active_state();
if (!g2.soaring_controller.is_active()) {
return;
}
g2.soaring_controller.update_vario();
// Check for throttle suppression change.
switch (control_mode->mode_number()) {
case Mode::Number::AUTO:
g2.soaring_controller.suppress_throttle();
break;
case Mode::Number::FLY_BY_WIRE_B:
case Mode::Number::CRUISE:
if (!g2.soaring_controller.suppress_throttle() && aparm.throttle_max > 0) {
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: forcing RTL");
set_mode(mode_rtl, ModeReason::SOARING_FBW_B_WITH_MOTOR_RUNNING);
}
break;
case Mode::Number::LOITER:
// Never use throttle in LOITER with soaring active.
g2.soaring_controller.set_throttle_suppressed(true);
break;
default:
// In any other mode allow throttle.
g2.soaring_controller.set_throttle_suppressed(false);
break;
}
// Nothing to do if we are in powered flight
if (!g2.soaring_controller.get_throttle_suppressed() && aparm.throttle_max > 0) {
return;
}
switch (control_mode->mode_number()) {
default:
// nothing to do
break;
case Mode::Number::AUTO:
case Mode::Number::FLY_BY_WIRE_B:
case Mode::Number::CRUISE:
// Test for switch into thermalling mode
g2.soaring_controller.update_cruising();
if (g2.soaring_controller.check_thermal_criteria()) {
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering %s", mode_loiter.name());
set_mode(mode_loiter, ModeReason::SOARING_THERMAL_DETECTED);
}
break;
case Mode::Number::LOITER: {
// Update thermal estimate and check for switch back to AUTO
g2.soaring_controller.update_thermalling(); // Update estimate
Vector2f prev_wp, next_wp;
// If previous mode was AUTO and there was a previous NAV command, we can use previous and next wps for drift calculation.
if (previous_mode->mode_number() == Mode::Number::AUTO) {
AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();
AP_Mission::Mission_Command prev_nav_cmd;
if (!(mission.get_next_nav_cmd(mission.get_prev_nav_cmd_with_wp_index(), prev_nav_cmd) &&
prev_nav_cmd.content.location.get_vector_xy_from_origin_NE(prev_wp) &&
current_nav_cmd.content.location.get_vector_xy_from_origin_NE(next_wp))) {
prev_wp.x = 0.0;
prev_wp.y = 0.0;
next_wp.x = 0.0;
next_wp.y = 0.0;
}
}
const SoaringController::LoiterStatus loiterStatus = g2.soaring_controller.check_cruise_criteria(prev_wp/100, next_wp/100);
if (loiterStatus == SoaringController::LoiterStatus::GOOD_TO_KEEP_LOITERING) {
// Reset loiter angle, so that the loiter exit heading criteria
// only starts expanding when we're ready to exit.
plane.loiter.sum_cd = 0;
plane.soaring_mode_timer = AP_HAL::millis();
break;
}
// Some other loiter status, we need to think about exiting loiter.
uint32_t timer = AP_HAL::millis() - plane.soaring_mode_timer;
// Check distance to home.
Vector3f position;
if (!ahrs.get_relative_position_NED_home(position)) {
return;
} else if (g2.soaring_controller.max_radius >= 0 &&
powf(position.x,2)+powf(position.y,2) > powf(g2.soaring_controller.max_radius,2) &&
previous_mode->mode_number()!=Mode::Number::AUTO) {
// Some other loiter status, and outside of maximum soaring radius, and previous mode wasn't AUTO
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Outside SOAR_MAX_RADIUS, RTL");
set_mode(mode_rtl, ModeReason::SOARING_DRIFT_EXCEEDED);
}
const char* strTooHigh = "Soaring: Too high, restoring ";
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const char* strTooLow = "Soaring: Too low, restoring ";
const char* strTooWeak = "Soaring: Thermal ended, restoring ";
const char* strTooFar = "Soaring: Drifted too far, restoring ";
// Exit as soon as thermal state estimate deteriorates and we're lined up to next target
switch (previous_mode->mode_number()){
case Mode::Number::FLY_BY_WIRE_B: {
const bool homeIsSet = AP::ahrs().home_is_set();
const bool headingLinedupToHome = homeIsSet && plane.mode_loiter.isHeadingLinedUp(next_WP_loc, AP::ahrs().get_home());
if (homeIsSet && !headingLinedupToHome && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
break;
}
switch (loiterStatus) {
case SoaringController::LoiterStatus::ALT_TOO_HIGH:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_fbwb.name());
set_mode(mode_fbwb, ModeReason::SOARING_ALT_TOO_HIGH);
break;
case SoaringController::LoiterStatus::ALT_TOO_LOW:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooLow, mode_rtl.name());
set_mode(mode_rtl, ModeReason::SOARING_ALT_TOO_LOW);
break;
default:
case SoaringController::LoiterStatus::THERMAL_WEAK:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_fbwb.name());
set_mode(mode_fbwb, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
break;
case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooFar, mode_fbwb.name());
set_mode(mode_fbwb, ModeReason::SOARING_DRIFT_EXCEEDED);
break;
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} // switch louterStatus
break;
}
case Mode::Number::CRUISE: {
const bool headingLinedupToCruise = plane.mode_loiter.isHeadingLinedUp_cd(cruise_state.locked_heading_cd);
if (cruise_state.locked_heading && !headingLinedupToCruise && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
break;
}
// return to cruise with old ground course
const CruiseState cruise = cruise_state;
switch (loiterStatus) {
case SoaringController::LoiterStatus::ALT_TOO_HIGH:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_cruise.name());
set_mode(mode_cruise, ModeReason::SOARING_ALT_TOO_HIGH);
break;
case SoaringController::LoiterStatus::ALT_TOO_LOW:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooLow, mode_rtl.name());
set_mode(mode_rtl, ModeReason::SOARING_ALT_TOO_LOW);
break;
default:
case SoaringController::LoiterStatus::THERMAL_WEAK:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_cruise.name());
set_mode(mode_cruise, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
break;
case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooFar, mode_cruise.name());
set_mode(mode_cruise, ModeReason::SOARING_DRIFT_EXCEEDED);
break;
} // switch loiterStatus
cruise_state = cruise;
set_target_altitude_current();
break;
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} // case Cruise
case Mode::Number::AUTO: {
//Get the lat/lon of next Nav waypoint after this one:
AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();;
const bool headingLinedupToWP = plane.mode_loiter.isHeadingLinedUp(next_WP_loc, current_nav_cmd.content.location);
if (!headingLinedupToWP && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
break;
}
switch (loiterStatus) {
case SoaringController::LoiterStatus::ALT_TOO_HIGH:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooHigh, mode_auto.name());
set_mode(mode_auto, ModeReason::SOARING_ALT_TOO_HIGH);
break;
case SoaringController::LoiterStatus::ALT_TOO_LOW:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooLow, mode_auto.name());
set_mode(mode_auto, ModeReason::SOARING_ALT_TOO_LOW);
break;
default:
case SoaringController::LoiterStatus::THERMAL_WEAK:
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gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooWeak, mode_auto.name());
set_mode(mode_auto, ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
break;
case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
gcs().send_text(MAV_SEVERITY_INFO, "%s%s", strTooFar, mode_auto.name());
set_mode(mode_auto, ModeReason::SOARING_DRIFT_EXCEEDED);
break;
} // switch loiterStatus
break;
} // case AUTO
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default: // all other modes
break;
} // switch previous_mode
break;
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} // case loiter
} // switch control_mode
if (control_mode == &mode_loiter) {
// still in thermal - need to update the wp location
g2.soaring_controller.get_target(next_WP_loc);
}
}
#endif // SOARING_ENABLED