ardupilot/ArduPlane/mode_thermal.cpp

152 lines
5.9 KiB
C++
Raw Normal View History

#include "mode.h"
#include "Plane.h"
#if HAL_SOARING_ENABLED
bool ModeThermal::_enter()
{
if (!plane.g2.soaring_controller.is_active()) {
return false;
}
plane.throttle_allows_nudging = true;
plane.auto_throttle_mode = true;
plane.auto_navigation_mode = true;
plane.do_loiter_at_location();
plane.loiter_angle_reset();
plane.g2.soaring_controller.init_thermalling();
plane.g2.soaring_controller.get_target(plane.next_WP_loc); // ahead on flight path
return true;
}
void ModeThermal::update()
{
plane.calc_nav_roll();
plane.calc_nav_pitch();
plane.calc_throttle();
}
void ModeThermal::update_soaring()
{
// Update the thermal estimation and switching logic.
// This is called from soaring.cpp at fixed 50Hz to avoid
// potential issues with the main loop rate setting.
// Update thermal estimate and check for switch back to AUTO
plane.g2.soaring_controller.update_thermalling(); // Update estimate
// Thermalling is done in a home-relative coordinate system, so we need home to be set.
Vector3f position;
if (!AP::ahrs().get_relative_position_NED_home(position)) {
return;
}
// Check distance to home against MAX_RADIUS.
if (plane.g2.soaring_controller.max_radius >= 0 &&
sq(position.x)+sq(position.y) > sq(plane.g2.soaring_controller.max_radius) &&
plane.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");
plane.set_mode(plane.mode_rtl, ModeReason::SOARING_DRIFT_EXCEEDED);
return;
}
// If previous mode was AUTO and there was a previous NAV command&, we can use previous and next wps for drift calculation
// with respect to the desired direction of travel. If these vectors are zero, drift will be calculated from thermal start
// position only, without taking account of the desired direction of travel.
Vector2f prev_wp, next_wp;
if (plane.previous_mode == &plane.mode_auto) {
AP_Mission::Mission_Command current_nav_cmd = plane.mission.get_current_nav_cmd();
AP_Mission::Mission_Command prev_nav_cmd;
if (!(plane.mission.get_next_nav_cmd(plane.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.zero();
next_wp.zero();
}
}
// Get the status of the soaring controller cruise checks.
const SoaringController::LoiterStatus loiterStatus = plane.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_ms = AP_HAL::millis();
//update the wp location
plane.g2.soaring_controller.get_target(plane.next_WP_loc);
return;
}
// Some other loiter status, we need to think about exiting loiter.
const uint32_t time_in_loiter_ms = AP_HAL::millis() - plane.soaring_mode_timer_ms;
const uint32_t timeout = MIN(1000*plane.g2.soaring_controller.get_circling_time(), 20000);
if (!exit_heading_aligned() && loiterStatus != SoaringController::LoiterStatus::ALT_TOO_LOW && time_in_loiter_ms < timeout) {
// Heading not lined up, and not timed out or in a condition requiring immediate exit.
return;
}
// Heading lined up and loiter status not good to continue. Need to restore previous mode.
switch (loiterStatus) {
case SoaringController::LoiterStatus::ALT_TOO_HIGH:
restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH);
break;
case SoaringController::LoiterStatus::ALT_TOO_LOW:
restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW);
break;
default:
case SoaringController::LoiterStatus::THERMAL_WEAK:
restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
break;
case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED);
break;
case SoaringController::LoiterStatus::EXIT_COMMANDED:
restore_mode("Exit via RC switch", ModeReason::RC_COMMAND);
break;
} // switch loiterStatus
}
void ModeThermal::navigate()
{
// Zero indicates to use WP_LOITER_RAD
plane.update_loiter(0);
}
bool ModeThermal::exit_heading_aligned() const
{
// Return true if the current heading is aligned with the next objective.
// If home is not set, or heading not locked, return true to avoid delaying mode change.
switch (plane.previous_mode->mode_number()) {
case Mode::Number::AUTO: {
//Get the lat/lon of next Nav waypoint after this one:
AP_Mission::Mission_Command current_nav_cmd = plane.mission.get_current_nav_cmd();;
return plane.mode_loiter.isHeadingLinedUp(plane.next_WP_loc, current_nav_cmd.content.location);
}
case Mode::Number::FLY_BY_WIRE_B:
return (!AP::ahrs().home_is_set() || plane.mode_loiter.isHeadingLinedUp(plane.next_WP_loc, AP::ahrs().get_home()));
case Mode::Number::CRUISE:
int32_t target_heading_cd;
return (!plane.mode_cruise.get_target_heading_cd(target_heading_cd) || plane.mode_loiter.isHeadingLinedUp_cd(target_heading_cd));
default:
break;
}
return true;
}
void ModeThermal::restore_mode(const char *reason, ModeReason modereason)
{
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: %s, restoring %s", reason, plane.previous_mode->name());
plane.set_mode(*plane.previous_mode, modereason);
}
#endif