ardupilot/libraries/AC_WPNav/AC_WPNav.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AC_WPNAV_H
#define AC_WPNAV_H
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <AC_PID.h> // PID library
#include <APM_PI.h> // PID library
#include <AP_InertialNav.h> // Inertial Navigation library
// loiter maximum velocities and accelerations
#define WPNAV_ACCELERATION 100.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
#define WPNAV_ACCELERATION_MIN 50.0f // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
#define WPNAV_ACCEL_MAX 980.0f // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
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// should be 1.5 times larger than WPNAV_ACCELERATION.
// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
#define WPNAV_LOITER_SPEED 500.0f // maximum default loiter speed in cm/s
#define WPNAV_LOITER_ACCEL_MAX 250.0f // maximum acceleration in loiter mode
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#define WPNAV_LOITER_ACCEL_MIN 25.0f // minimum acceleration in loiter mode
#define WPNAV_LOITER_SPEED_MAX_TO_CORRECT_ERROR 200.0f // maximum speed used to correct position error (i.e. not including feed forward)
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#define MAX_LEAN_ANGLE 4500 // default maximum lean angle
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#define WPNAV_WP_SPEED 500.0f // default horizontal speed betwen waypoints in cm/s
#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
#define WPNAV_ALT_HOLD_P 1.0f // default throttle controller's altitude hold's P gain.
#define WPNAV_ALT_HOLD_ACCEL_MAX 250.0f // hard coded copy of throttle controller's maximum acceleration in cm/s. To-Do: remove duplication with throttle controller definition
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#define WPNAV_MIN_LEASH_LENGTH 100.0f // minimum leash lengths in cm
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class AC_WPNav
{
public:
/// Constructor
AC_WPNav(AP_InertialNav* inav, AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon);
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///
/// simple loiter controller
///
/// get_loiter_target - get loiter target as position vector (from home in cm)
const Vector3f &get_loiter_target() const { return _target; }
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/// set_loiter_target in cm from home
void set_loiter_target(const Vector3f& position);
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/// init_loiter_target - set initial loiter target based on current position and velocity
void init_loiter_target(const Vector3f& position, const Vector3f& velocity);
/// move_loiter_target - move destination using pilot input
void move_loiter_target(float control_roll, float control_pitch, float dt);
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/// get_distance_to_target - get horizontal distance to loiter target in cm
float get_distance_to_target() const;
/// get_bearing_to_target - get bearing to loiter target in centi-degrees
int32_t get_bearing_to_target() const;
/// update_loiter - run the loiter controller - should be called at 10hz
void update_loiter();
/// get_stopping_point - returns vector to stopping point based on a horizontal position and velocity
void get_stopping_point(const Vector3f& position, const Vector3f& velocity, Vector3f &target) const;
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///
/// waypoint controller
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///
/// get_destination waypoint using position vector (distance from home in cm)
const Vector3f &get_destination() const { return _destination; }
/// set_destination waypoint using position vector (distance from home in cm)
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void set_destination(const Vector3f& destination);
/// set_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
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void set_origin_and_destination(const Vector3f& origin, const Vector3f& destination);
/// advance_target_along_track - move target location along track from origin to destination
void advance_target_along_track(float dt);
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/// get_distance_to_destination - get horizontal distance to destination in cm
float get_distance_to_destination();
/// get_bearing_to_destination - get bearing to next waypoint in centi-degrees
int32_t get_bearing_to_destination();
/// reached_destination - true when we have come within RADIUS cm of the waypoint
bool reached_destination() const { return _flags.reached_destination; }
/// set_fast_waypoint - set to true to ignore the waypoint radius and consider the waypoint 'reached' the moment the intermediate point reaches it
void set_fast_waypoint(bool fast) { _flags.fast_waypoint = fast; }
/// update_wp - update waypoint controller
void update_wpnav();
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///
/// shared methods
///
/// get desired roll, pitch which should be fed into stabilize controllers
int32_t get_desired_roll() const { return _desired_roll; };
int32_t get_desired_pitch() const { return _desired_pitch; };
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/// get_desired_alt - get desired altitude (in cm above home) from loiter or wp controller which should be fed into throttle controller
float get_desired_alt() const { return _target.z; }
/// set_desired_alt - set desired altitude (in cm above home)
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void set_desired_alt(float desired_alt) { _target.z = desired_alt; }
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/// set_cos_sin_yaw - short-cut to save on calculations to convert from roll-pitch frame to lat-lon frame
void set_cos_sin_yaw(float cos_yaw, float sin_yaw, float cos_pitch) {
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_cos_yaw = cos_yaw;
_sin_yaw = sin_yaw;
_cos_pitch = cos_pitch;
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}
/// set_althold_kP - pass in alt hold controller's P gain
void set_althold_kP(float kP) { if(kP>0.0) _althold_kP = kP; }
/// set_horizontal_velocity - allows main code to pass target horizontal velocity for wp navigation
void set_horizontal_velocity(float velocity_cms) { _wp_speed_cms = velocity_cms; };
/// get_horizontal_velocity - allows main code to retrieve target horizontal velocity for wp navigation
float get_horizontal_velocity() { return _wp_speed_cms; };
/// get_climb_velocity - returns target climb speed in cm/s during missions
float get_climb_velocity() const { return _wp_speed_up_cms; };
/// get_descent_velocity - returns target descent speed in cm/s during missions. Note: always positive
float get_descent_velocity() const { return _wp_speed_down_cms; };
/// get_waypoint_radius - access for waypoint radius in cm
float get_waypoint_radius() const { return _wp_radius_cm; }
/// get_waypoint_acceleration - returns acceleration in cm/s/s during missions
float get_waypoint_acceleration() const { return _wp_accel_cms.get(); }
/// set_lean_angle_max - limits maximum lean angle
void set_lean_angle_max(int16_t angle_cd) { if (angle_cd >= 1000 && angle_cd <= 8000) {_lean_angle_max_cd = angle_cd;} }
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static const struct AP_Param::GroupInfo var_info[];
protected:
// flags structure
struct wpnav_flags {
uint8_t reached_destination : 1; // true if we have reached the destination
uint8_t fast_waypoint : 1; // true if we should ignore the waypoint radius and consider the waypoint complete once the intermediate target has reached the waypoint
} _flags;
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/// translate_loiter_target_movements - consumes adjustments created by move_loiter_target
void translate_loiter_target_movements(float nav_dt);
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/// get_loiter_position_to_velocity - loiter position controller
/// converts desired position held in _target vector to desired velocity
void get_loiter_position_to_velocity(float dt, float max_speed_cms);
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/// get_loiter_velocity_to_acceleration - loiter velocity controller
/// converts desired velocities in lat/lon directions to accelerations in lat/lon frame
void get_loiter_velocity_to_acceleration(float vel_lat_cms, float vel_lon_cms, float dt);
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/// get_loiter_acceleration_to_lean_angles - loiter acceleration controller
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/// converts desired accelerations provided in lat/lon frame to roll/pitch angles
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void get_loiter_acceleration_to_lean_angles(float accel_lat_cmss, float accel_lon_cmss);
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/// get_bearing_cd - return bearing in centi-degrees between two positions
float get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const;
/// reset_I - clears I terms from loiter PID controller
void reset_I();
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/// calculate_loiter_leash_length - calculates the maximum distance in cm that the target position may be from the current location
void calculate_loiter_leash_length();
/// calculate_wp_leash_length - calculates horizontal and vertical leash lengths for waypoint controller
/// set climb param to true if track climbs vertically, false if descending
void calculate_wp_leash_length(bool climb);
// pointers to inertial nav and ahrs libraries
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AP_InertialNav* _inav;
AP_AHRS* _ahrs;
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// pointers to pid controllers
APM_PI* _pid_pos_lat;
APM_PI* _pid_pos_lon;
AC_PID* _pid_rate_lat;
AC_PID* _pid_rate_lon;
// parameters
AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter
AP_Float _wp_speed_cms; // maximum horizontal speed in cm/s during missions
AP_Float _wp_speed_up_cms; // climb speed target in cm/s
AP_Float _wp_speed_down_cms; // descent speed target in cm/s
AP_Float _wp_radius_cm; // distance from a waypoint in cm that, when crossed, indicates the wp has been reached
AP_Float _wp_accel_cms; // acceleration in cm/s/s during missions
uint8_t _loiter_step; // used to decide which portion of loiter controller to run during this iteration
uint8_t _wpnav_step; // used to decide which portion of wpnav controller to run during this iteration
uint32_t _loiter_last_update; // time of last update_loiter call
uint32_t _wpnav_last_update; // time of last update_wpnav call
float _loiter_dt; // time difference since last loiter call
float _wpnav_dt; // time difference since last loiter call
float _cos_yaw; // short-cut to save on calcs required to convert roll-pitch frame to lat-lon frame
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float _sin_yaw;
float _cos_pitch;
float _althold_kP; // alt hold's P gain
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// output from controller
int32_t _desired_roll; // fed to stabilize controllers at 50hz
int32_t _desired_pitch; // fed to stabilize controllers at 50hz
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// loiter controller internal variables
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Vector3f _target; // loiter's target location in cm from home
int16_t _pilot_vel_forward_cms; // pilot's desired velocity forward (body-frame)
int16_t _pilot_vel_right_cms; // pilot's desired velocity right (body-frame)
Vector3f _target_vel; // pilot's latest desired velocity in earth-frame
Vector3f _vel_last; // previous iterations velocity in cm/s
float _loiter_leash; // loiter's horizontal leash length in cm. used to stop the pilot from pushing the target location too far from the current location
float _loiter_accel_cms; // loiter's acceleration in cm/s/s
int16_t _lean_angle_max_cd; // maximum lean angle in centi-degrees
// waypoint controller internal variables
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Vector3f _origin; // starting point of trip to next waypoint in cm from home (equivalent to next_WP)
Vector3f _destination; // target destination in cm from home (equivalent to next_WP)
Vector3f _pos_delta_unit; // each axis's percentage of the total track from origin to destination
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float _track_length; // distance in cm between origin and destination
float _track_desired; // our desired distance along the track in cm
float _distance_to_target; // distance to loiter target
float _wp_leash_xy; // horizontal leash length in cm
float _wp_leash_z; // horizontal leash length in cm
float _limited_speed_xy_cms; // horizontal speed in cm/s used to advance the intermediate target towards the destination. used to limit extreme acceleration after passing a waypoint
float _track_accel; // acceleration along track
float _track_speed; // speed in cm/s along track
float _track_leash_length; // leash length along track
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public:
// for logging purposes
Vector2f dist_error; // distance error calculated by loiter controller
Vector2f desired_vel; // loiter controller desired velocity
Vector2f desired_accel; // the resulting desired acceleration
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// To-Do: add split of fast (100hz for accel->angle) and slow (10hz for navigation)
/// update - run the loiter and wpnav controllers - should be called at 100hz
//void update_100hz(void);
/// update - run the loiter and wpnav controllers - should be called at 10hz
//void update_10hz(void);
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};
#endif // AC_WPNAV_H