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AC_WPNav: renames and comment fixes

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This commit is contained in:
Randy Mackay 2021-03-12 12:15:33 +09:00
parent 85b24cf641
commit 2201450180
2 changed files with 34 additions and 36 deletions
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52
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -272,9 +272,9 @@ bool AC_WPNav::set_wp_destination(const Vector3f& destination, bool terrain_alt)
if (terrain_alt == _terrain_alt) {
if (_this_leg_is_spline) {
// if previous leg was a spline we can use current target velocity vector for origin velocity vector
Vector3f target_velocity = _pos_control.get_desired_velocity();
target_velocity.z -= _vel_terrain_offset;
origin_speed = target_velocity.length();
Vector3f curr_target_vel = _pos_control.get_desired_velocity();
curr_target_vel.z -= _vel_terrain_offset;
origin_speed = curr_target_vel.length();
} else {
// store previous leg
_scurve_prev_leg = _scurve_this_leg;
@ -457,55 +457,53 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
// get current position and adjust altitude to origin and destination's frame (i.e. _frame)
const Vector3f &curr_pos = _inav.get_position() - Vector3f{0, 0, terr_offset};
// target position, velocity and acceleration from straight line or spline calculators
Vector3f target_pos, target_vel, target_accel;
bool s_finished;
// Use _track_scalar_dt to slow down S-Curve time to prevent target moving too far in front of aircraft
Vector3f target_velocity = _pos_control.get_desired_velocity();
target_velocity.z -= _vel_terrain_offset;
Vector3f curr_target_vel = _pos_control.get_desired_velocity();
curr_target_vel.z -= _vel_terrain_offset;
float track_error = 0.0f;
float track_velocity = 0.0f;
float track_scaler_dt = 1.0f;
// check target velocity is non-zero
if (is_positive(target_velocity.length())) {
Vector3f track_direction = target_velocity.normalized();
if (is_positive(curr_target_vel.length())) {
Vector3f track_direction = curr_target_vel.normalized();
track_error = _pos_control.get_pos_error().dot(track_direction);
track_velocity = _inav.get_velocity().dot(track_direction);
// set time scaler to be consistent with the achievable aircraft speed with a 5% buffer for short term variation.
track_scaler_dt = constrain_float(0.05f + (track_velocity - _pos_control.get_pos_xy_p().kP() * track_error) / target_velocity.length(), 0.1f, 1.0f);
track_scaler_dt = constrain_float(0.05f + (track_velocity - _pos_control.get_pos_xy_p().kP() * track_error) / curr_target_vel.length(), 0.1f, 1.0f);
// set time scaler to not exceed the maximum vertical velocity during terrain following.
if (is_positive(target_velocity.z)) {
track_scaler_dt = MIN(track_scaler_dt, fabsf(_wp_speed_up_cms / target_velocity.z));
} else if (is_negative(target_velocity.z)) {
track_scaler_dt = MIN(track_scaler_dt, fabsf(_wp_speed_down_cms / target_velocity.z));
if (is_positive(curr_target_vel.z)) {
track_scaler_dt = MIN(track_scaler_dt, fabsf(_wp_speed_up_cms / curr_target_vel.z));
} else if (is_negative(curr_target_vel.z)) {
track_scaler_dt = MIN(track_scaler_dt, fabsf(_wp_speed_down_cms / curr_target_vel.z));
}
} else {
track_scaler_dt = 1.0f;
}
// change s-curve time speed with a time constant of maximum acceleration / maximum jerk
float track_scaler_tc = 0.01f * _wp_accel_cmss/_wp_jerk;
float track_scaler_tc = 1.0f;
if (!is_zero(_wp_jerk)) {
track_scaler_tc = 0.01f * _wp_accel_cmss/_wp_jerk;
} else {
track_scaler_tc = 1.0f;
}
_track_scalar_dt += (track_scaler_dt - _track_scalar_dt) * (dt / track_scaler_tc);
// target position, velocity and acceleration from straight line or spline calculators
Vector3f target_pos, target_vel, target_accel;
bool s_finished;
if (!_this_leg_is_spline) {
// update target position, velocity and acceleration
target_pos = _origin;
s_finished = _scurve_this_leg.advance_target_along_track(_scurve_prev_leg, _scurve_next_leg, _wp_radius_cm, _flags.fast_waypoint, _track_scalar_dt * dt, target_pos, target_vel, target_accel);
} else {
// splinetarget_vel
target_vel = target_velocity;
target_vel = curr_target_vel;
_spline_this_leg.advance_target_along_track(_track_scalar_dt * dt, target_pos, target_vel);
s_finished = _spline_this_leg.reached_destination();
}
// input shape the terrain offset
shape_pos_vel(terr_offset, 0.0f, _pos_terrain_offset, _vel_terrain_offset, _accel_terrain_offset, 0.0f, 0.0f, _pos_control.get_max_accel_z()*4.0f, 0.05f, _track_scalar_dt * dt);
shape_pos_vel(terr_offset, 0.0f, _pos_terrain_offset, _vel_terrain_offset, _accel_terrain_offset, 0.0f, 0.0f, _pos_control.get_max_accel_z(), 0.05f, _track_scalar_dt * dt);
update_pos_vel_accel(_pos_terrain_offset, _vel_terrain_offset, _accel_terrain_offset, _track_scalar_dt * dt);
// convert final_target.z to altitude above the ekf origin
@ -525,7 +523,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
} else {
// regular waypoints also require the copter to be within the waypoint radius
const Vector3f dist_to_dest = curr_pos - _destination;
if (dist_to_dest.length() <= _wp_radius_cm) {
if (dist_to_dest.length_squared() <= sq(_wp_radius_cm)) {
_flags.reached_destination = true;
}
}
@ -541,7 +539,7 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
const float accel_turn_xy_len = Vector2f(accel_turn.x, accel_turn.y).length();
turn_rate = accel_turn_xy_len / target_vel_xy_len;
if ((accel_turn.y * target_vel.x - accel_turn.x * target_vel.y) < 0.0) {
turn_rate *= -1.0f;
turn_rate = -turn_rate;
}
}
@ -634,10 +632,10 @@ float AC_WPNav::get_yaw() const
}
// returns target yaw rate in centi-degrees / second (used for wp and spline navigation)
float AC_WPNav::get_yaw_rate() const
float AC_WPNav::get_yaw_rate_cds() const
{
if (_flags.wp_yaw_set) {
return _yaw_rate;
return _yaw_rate_cds;
}
// if yaw has not been set return zero turn rate
@ -654,7 +652,7 @@ void AC_WPNav::set_yaw_cd(float heading_cd)
// set yaw rate used for spline and waypoint navigation
void AC_WPNav::set_yaw_rate_cds(float yaw_rate_cds)
{
_yaw_rate = yaw_rate_cds;
_yaw_rate_cds = yaw_rate_cds;
}
// get terrain's altitude (in cm above the ekf origin) at the current position (+ve means terrain below vehicle is above ekf origin's altitude)
@ -681,7 +679,7 @@ bool AC_WPNav::get_terrain_offset(float& offset_cm)
return false;
}
// we should never get here but just in case
// we should never get here
return false;
}

18
libraries/AC_WPNav/AC_WPNav.h
View File

@ -62,7 +62,7 @@ public:
///
/// wp_and_spline_init - initialise straight line and spline waypoint controllers
/// speed_cms is the desired max speed to travel between waypoints. should be a positive value or left at zero to use the default speed
/// speed_cms is the desired max speed to travel between waypoints. should be a positive value or omitted to use the default speed
/// updates target roll, pitch targets and I terms based on vehicle lean angles
/// should be called once before the waypoint controller is used but does not need to be called before subsequent updates to destination
void wp_and_spline_init(float speed_cms = 0.0f);
@ -170,7 +170,7 @@ public:
// get target yaw in centi-degrees (used for wp and spline navigation)
float get_yaw() const;
float get_yaw_rate() const;
float get_yaw_rate_cds() const;
/// set_spline_destination waypoint using location class
/// returns false if conversion from location to vector from ekf origin cannot be calculated
@ -262,14 +262,14 @@ protected:
AP_Float _wp_speed_up_cms; // default maximum climb rate in cm/s
AP_Float _wp_speed_down_cms; // default maximum descent rate 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_cmss; // horizontal acceleration in cm/s/s during missions
AP_Float _wp_accel_z_cmss; // vertical acceleration in cm/s/s during missions
AP_Float _wp_jerk; // maximum jerk used to generate s-curve trajectories in m/s/s/s
AP_Float _wp_accel_cmss; // horizontal acceleration in cm/s/s during missions
AP_Float _wp_accel_z_cmss; // vertical acceleration in cm/s/s during missions
AP_Float _wp_jerk; // maximum jerk used to generate scurve trajectories in m/s/s/s
// scurve
SCurve _scurve_prev_leg; // previous spline trajectory used to blend with current s-curve trajectory
SCurve _scurve_this_leg; // current spline trajectory
SCurve _scurve_next_leg; // next spline trajectory used to blend with current s-curve trajectory
SCurve _scurve_prev_leg; // previous scurve trajectory used to blend with current scurve trajectory
SCurve _scurve_this_leg; // current scurve trajectory
SCurve _scurve_next_leg; // next scurve trajectory used to blend with current scurve trajectory
float _scurve_jerk; // scurve jerk max in m/s/s/s
float _scurve_jerk_time; // scurve jerk time (time in seconds for jerk to increase from zero _scurve_jerk)
@ -290,7 +290,7 @@ protected:
float _track_desired; // our desired distance along the track in cm
float _track_scalar_dt; // time compression multiplier to slow the progress along the track
float _yaw; // current yaw heading in centi-degrees based on track direction
float _yaw_rate; // current yaw rate in centi-degrees/second based on track curvature
float _yaw_rate_cds; // current yaw rate in centi-degrees/second based on track curvature
// terrain following variables
bool _terrain_alt; // true if origin and destination.z are alt-above-terrain, false if alt-above-ekf-origin