mirror of https://github.com/ArduPilot/ardupilot
Plane: added APIs for lua ship landing
This commit is contained in:
Andrew Tridgell
Randy Mackay
parent
0e70270f49
commit
2b257663dc
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@ -738,6 +738,7 @@ bool Plane::get_target_location(Location& target_loc)
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case Mode::Number::GUIDED:
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case Mode::Number::AUTO:
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case Mode::Number::LOITER:
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case Mode::Number::TAKEOFF:
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#if HAL_QUADPLANE_ENABLED
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case Mode::Number::QLOITER:
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case Mode::Number::QLAND:
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@ -751,6 +752,39 @@ bool Plane::get_target_location(Location& target_loc)
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}
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return false;
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}
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/*
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update_target_location() works in all auto navigation modes
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*/
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bool Plane::update_target_location(const Location &old_loc, const Location &new_loc)
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{
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if (!old_loc.same_latlon_as(next_WP_loc)) {
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return false;
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}
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ftype alt_diff;
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if (!old_loc.get_alt_distance(next_WP_loc, alt_diff) ||
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!is_zero(alt_diff)) {
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return false;
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}
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next_WP_loc = new_loc;
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next_WP_loc.change_alt_frame(old_loc.get_alt_frame());
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return true;
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}
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// allow for velocity matching in VTOL
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bool Plane::set_velocity_match(const Vector2f &velocity)
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{
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#if HAL_QUADPLANE_ENABLED
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if (quadplane.in_vtol_mode() || quadplane.in_vtol_land_sequence()) {
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quadplane.poscontrol.velocity_match = velocity;
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quadplane.poscontrol.last_velocity_match_ms = AP_HAL::millis();
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return true;
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}
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#endif
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return false;
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}
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#endif // AP_SCRIPTING_ENABLED
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#if OSD_ENABLED
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@ -643,7 +643,7 @@ void GCS_MAVLINK_Plane::packetReceived(const mavlink_status_t &status,
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#if HAL_ADSB_ENABLED
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plane.avoidance_adsb.handle_msg(msg);
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#endif
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#if SHIP_LANDING_ENABLED
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#if AP_SCRIPTING_ENABLED
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// pass message to follow library
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plane.g2.follow.handle_msg(msg);
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#endif
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@ -879,7 +879,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
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return handle_command_int_guided_slew_commands(packet);
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case MAV_CMD_DO_FOLLOW:
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#if SHIP_LANDING_ENABLED
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#if AP_SCRIPTING_ENABLED
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// param1: sysid of target to follow
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if ((packet.param1 > 0) && (packet.param1 <= 255)) {
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plane.g2.follow.set_target_sysid((uint8_t)packet.param1);
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@ -1089,7 +1089,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
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}
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return MAV_RESULT_ACCEPTED;
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#if SHIP_LANDING_ENABLED
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#if AP_SCRIPTING_ENABLED
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case MAV_CMD_DO_FOLLOW:
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// param1: sysid of target to follow
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if ((packet.param1 > 0) && (packet.param1 <= 255)) {
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@ -23,7 +23,7 @@ void Plane::Log_Write_Attitude(void)
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} else {
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ahrs.Write_Attitude(targets);
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}
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if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight()) {
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if (quadplane.in_vtol_mode() || quadplane.in_assisted_flight() || quadplane.in_vtol_airbrake()) {
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// log quadplane PIDs separately from fixed wing PIDs
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logger.Write_PID(LOG_PIQR_MSG, quadplane.attitude_control->get_rate_roll_pid().get_pid_info());
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logger.Write_PID(LOG_PIQP_MSG, quadplane.attitude_control->get_rate_pitch_pid().get_pid_info());
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@ -1230,7 +1230,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
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// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15
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AP_GROUPINFO("ONESHOT_MASK", 32, ParametersG2, oneshot_mask, 0),
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#if SHIP_LANDING_ENABLED
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#if AP_SCRIPTING_ENABLED
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// @Group: FOLL
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// @Path: ../libraries/AP_Follow/AP_Follow.cpp
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AP_SUBGROUPINFO(follow, "FOLL", 33, ParametersG2, AP_Follow),
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@ -545,7 +545,7 @@ public:
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AC_PID guidedHeading{5000.0, 0.0, 0.0, 0 , 10.0, 5.0, 5.0 , 5.0 , 0.2};
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#endif
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#if SHIP_LANDING_ENABLED
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#if AP_SCRIPTING_ENABLED
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AP_Follow follow;
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#endif
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@ -1210,6 +1210,8 @@ public:
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#if AP_SCRIPTING_ENABLED
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bool set_target_location(const Location& target_loc) override;
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bool get_target_location(Location& target_loc) override;
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bool update_target_location(const Location &old_loc, const Location &new_loc) override;
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bool set_velocity_match(const Vector2f &velocity) override;
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#endif // AP_SCRIPTING_ENABLED
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};
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@ -1713,7 +1713,7 @@ void QuadPlane::update(void)
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}
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const uint32_t now = AP_HAL::millis();
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if (!in_vtol_mode()) {
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if (!in_vtol_mode() && !in_vtol_airbrake()) {
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// we're in a fixed wing mode, cope with transitions and check
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// for assistance needed
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if (plane.control_mode == &plane.mode_manual ||
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@ -1732,7 +1732,7 @@ void QuadPlane::update(void)
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} else {
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assisted_flight = false;
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assisted_flight = in_vtol_airbrake();
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// output to motors
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motors_output();
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@ -2011,6 +2011,9 @@ bool QuadPlane::in_vtol_auto(void) const
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/*
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are we in a VTOL mode? This is used to decide if we run the
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transition handling code or not
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note that AIRBRAKE is not considered in_vtol_mode even though the
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VTOL motors are running
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*/
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bool QuadPlane::in_vtol_mode(void) const
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{
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@ -2018,7 +2021,7 @@ bool QuadPlane::in_vtol_mode(void) const
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return false;
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}
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if (in_vtol_land_sequence()) {
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return poscontrol.get_state() != QPOS_APPROACH;
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return poscontrol.get_state() != QPOS_APPROACH && poscontrol.get_state() != QPOS_AIRBRAKE;
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}
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if (plane.control_mode->is_vtol_mode()) {
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return true;
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@ -2033,7 +2036,7 @@ bool QuadPlane::in_vtol_mode(void) const
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return true;
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}
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if (in_vtol_auto()) {
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if (!plane.auto_state.vtol_loiter || poscontrol.get_state() > QPOS_APPROACH) {
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if (!plane.auto_state.vtol_loiter || poscontrol.get_state() > QPOS_AIRBRAKE) {
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return true;
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}
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}
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@ -2082,7 +2085,8 @@ void QuadPlane::update_land_positioning(void)
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poscontrol.target_vel_cms = Vector3f(-pitch_in, roll_in, 0) * speed_max_cms;
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poscontrol.target_vel_cms.rotate_xy(ahrs_view->yaw);
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poscontrol.target_cm += (poscontrol.target_vel_cms * dt).topostype();
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// integrate our corrected position
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poscontrol.xy_correction += poscontrol.target_vel_cms.xy() * dt * 0.01;
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poscontrol.pilot_correction_active = (!is_zero(roll_in) || !is_zero(pitch_in));
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if (poscontrol.pilot_correction_active) {
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@ -2095,9 +2099,16 @@ void QuadPlane::update_land_positioning(void)
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*/
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void QuadPlane::run_xy_controller(void)
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{
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float accel_cmss = wp_nav->get_wp_acceleration();
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if (in_vtol_land_sequence() &&
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(poscontrol.get_state() == QPOS_POSITION1 ||
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poscontrol.get_state() == QPOS_POSITION2)) {
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accel_cmss = MAX(accel_cmss, transition_decel*100);
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}
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const float speed_cms = wp_nav->get_default_speed_xy();
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pos_control->set_max_speed_accel_xy(speed_cms, accel_cmss);
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pos_control->set_correction_speed_accel_xy(speed_cms, accel_cmss);
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if (!pos_control->is_active_xy()) {
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pos_control->set_max_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
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pos_control->set_correction_speed_accel_xy(wp_nav->get_default_speed_xy(), wp_nav->get_wp_acceleration());
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pos_control->init_xy_controller();
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}
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pos_control->update_xy_controller();
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@ -2130,6 +2141,8 @@ void QuadPlane::poscontrol_init_approach(void)
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}
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poscontrol.thrust_loss_start_ms = 0;
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}
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poscontrol.pilot_correction_done = false;
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poscontrol.xy_correction.zero();
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}
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/*
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@ -2158,13 +2171,6 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
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// if it is active then the rate control should not be reset at all
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qp.attitude_control->reset_yaw_target_and_rate(false);
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pos1_start_speed = plane.ahrs.groundspeed_vector().length();
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} else if (s == QPOS_POSITION2) {
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// POSITION2 changes target speed, so we need to change it
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// back to normal
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qp.pos_control->set_max_speed_accel_xy(qp.wp_nav->get_default_speed_xy(),
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qp.wp_nav->get_wp_acceleration());
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qp.pos_control->set_correction_speed_accel_xy(qp.wp_nav->get_default_speed_xy(),
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qp.wp_nav->get_wp_acceleration());
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} else if (s == QPOS_AIRBRAKE) {
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// start with zero integrator on vertical throttle
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qp.pos_control->get_accel_z_pid().set_integrator(0);
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@ -2208,6 +2214,11 @@ void QuadPlane::vtol_position_controller(void)
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// and tilt is more than tilt max
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bool suppress_z_controller = false;
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Vector2f landing_velocity;
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if (now_ms - poscontrol.last_velocity_match_ms < 1000) {
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landing_velocity = poscontrol.velocity_match;
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}
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// horizontal position control
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switch (poscontrol.get_state()) {
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@ -2419,19 +2430,11 @@ void QuadPlane::vtol_position_controller(void)
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if (distance > 0.1) {
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target_speed_xy_cms = diff_wp.normalized() * target_speed * 100;
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}
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if (!tailsitter.enabled()) {
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// this method ignores pos-control velocity/accel limtis
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pos_control->set_vel_desired_xy_cms(target_speed_xy_cms);
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// reset position controller xy target to current position
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// because we only want velocity control (no position control)
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const Vector2f& curr_pos = inertial_nav.get_position_xy_cm();
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pos_control->set_pos_target_xy_cm(curr_pos.x, curr_pos.y);
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pos_control->set_accel_desired_xy_cmss(Vector2f());
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} else {
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// tailsitters use input shaping and abide by velocity limits
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pos_control->input_vel_accel_xy(target_speed_xy_cms, Vector2f());
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}
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target_speed_xy_cms += landing_velocity * 100;
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// use input shaping and abide by accel and jerk limits
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pos_control->input_vel_accel_xy(target_speed_xy_cms, Vector2f());
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// run horizontal velocity controller
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run_xy_controller();
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@ -2461,35 +2464,19 @@ void QuadPlane::vtol_position_controller(void)
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case QPOS_POSITION2:
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case QPOS_LAND_DESCEND: {
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setup_target_position();
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/*
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for final land repositioning and descent we run the position controller
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*/
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if (poscontrol.pilot_correction_done) {
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// if the pilot has repositioned the vehicle then we switch to velocity control. This prevents the vehicle
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// shifting position in the event of GPS glitches.
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Vector2f zero;
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pos_control->input_vel_accel_xy(poscontrol.target_vel_cms.xy(), zero);
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} else {
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Vector2f zero;
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pos_control->input_pos_vel_accel_xy(poscontrol.target_cm.xy(), zero, zero);
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}
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Vector2f zero;
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Vector2f vel_cms = poscontrol.target_vel_cms.xy() + landing_velocity*100;
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pos_control->input_pos_vel_accel_xy(poscontrol.target_cm.xy(), vel_cms, zero);
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// also run fixed wing navigation
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plane.nav_controller->update_waypoint(plane.current_loc, loc);
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update_land_positioning();
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/*
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apply the same asymmetric speed limits from POSITION1, so we
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don't suddenly speed up when we change to POSITION2 and
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LAND_DESCEND
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*/
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const Vector2f diff_wp = plane.current_loc.get_distance_NE(loc);
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const float scaled_wp_speed = get_scaled_wp_speed(degrees(diff_wp.angle()));
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pos_control->set_max_speed_accel_xy(scaled_wp_speed*100, wp_nav->get_wp_acceleration());
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pos_control->set_correction_speed_accel_xy(scaled_wp_speed*100, wp_nav->get_wp_acceleration());
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run_xy_controller();
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// nav roll and pitch are controlled by position controller
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@ -2516,7 +2503,8 @@ void QuadPlane::vtol_position_controller(void)
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} else {
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// we use velocity control in QPOS_LAND_FINAL to allow for GPS glitch handling
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Vector2f zero;
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pos_control->input_vel_accel_xy(poscontrol.target_vel_cms.xy(), zero);
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Vector2f vel_cms = poscontrol.target_vel_cms.xy() + landing_velocity*100;
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pos_control->input_vel_accel_xy(vel_cms, zero);
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}
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run_xy_controller();
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@ -2677,20 +2665,12 @@ void QuadPlane::setup_target_position(void)
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set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
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}
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const Vector2f diff2d = origin.get_distance_NE(loc);
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Vector2f diff2d = origin.get_distance_NE(loc);
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diff2d += poscontrol.xy_correction;
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poscontrol.target_cm.x = diff2d.x * 100;
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poscontrol.target_cm.y = diff2d.y * 100;
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poscontrol.target_cm.z = plane.next_WP_loc.alt - origin.alt;
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const uint32_t now = AP_HAL::millis();
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if (!loc.same_latlon_as(last_auto_target) ||
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plane.next_WP_loc.alt != last_auto_target.alt ||
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now - last_loiter_ms > 500) {
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wp_nav->set_wp_destination(poscontrol.target_cm.tofloat());
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last_auto_target = loc;
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}
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last_loiter_ms = now;
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// set vertical speed and acceleration limits
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pos_control->set_max_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
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pos_control->set_correction_speed_accel_z(-get_pilot_velocity_z_max_dn(), pilot_velocity_z_max_up, pilot_accel_z);
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@ -2701,18 +2681,24 @@ void QuadPlane::setup_target_position(void)
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*/
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void QuadPlane::takeoff_controller(void)
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{
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if (!hal.util->get_soft_armed()) {
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return;
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}
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/*
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for takeoff we use the position controller
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*/
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setup_target_position();
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// set position controller desired velocity and acceleration to zero
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pos_control->set_vel_desired_xy_cms(Vector2f());
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pos_control->set_accel_desired_xy_cmss(Vector2f());
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// set position control target and update
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Vector2f zero;
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pos_control->input_vel_accel_xy(zero, zero);
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Vector2f vel, zero;
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if (AP_HAL::millis() - poscontrol.last_velocity_match_ms < 1000) {
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vel = poscontrol.velocity_match * 100;
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}
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pos_control->set_accel_desired_xy_cmss(zero);
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pos_control->set_vel_desired_xy_cms(vel);
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pos_control->input_vel_accel_xy(vel, zero);
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run_xy_controller();
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@ -2753,6 +2739,16 @@ void QuadPlane::waypoint_controller(void)
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{
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setup_target_position();
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const Location &loc = plane.next_WP_loc;
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const uint32_t now = AP_HAL::millis();
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if (!loc.same_latlon_as(last_auto_target) ||
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plane.next_WP_loc.alt != last_auto_target.alt ||
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now - last_loiter_ms > 500) {
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wp_nav->set_wp_destination(poscontrol.target_cm.tofloat());
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last_auto_target = loc;
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}
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last_loiter_ms = now;
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/*
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this is full copter control of auto flight
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*/
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@ -3082,10 +3078,18 @@ bool QuadPlane::verify_vtol_land(void)
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const float dist = (inertial_nav.get_position_neu_cm().topostype() - poscontrol.target_cm).xy().length() * 0.01;
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reached_position = dist < descend_dist_threshold;
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}
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Vector2f target_vel;
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if (AP_HAL::millis() - poscontrol.last_velocity_match_ms < 1000) {
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target_vel = poscontrol.velocity_match;
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}
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Vector3f vel_ned;
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UNUSED_RESULT(plane.ahrs.get_velocity_NED(vel_ned));
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if (reached_position &&
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plane.ahrs.groundspeed() < descend_speed_threshold) {
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(vel_ned.xy() - target_vel).length() < descend_speed_threshold) {
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poscontrol.set_state(QPOS_LAND_DESCEND);
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poscontrol.pilot_correction_done = false;
|
||||
poscontrol.xy_correction.zero();
|
||||
#if AC_FENCE == ENABLED
|
||||
plane.fence.auto_disable_fence_for_landing();
|
||||
#endif
|
||||
|
|
@ -3638,6 +3642,23 @@ bool QuadPlane::in_vtol_land_poscontrol(void) const
|
|||
return false;
|
||||
}
|
||||
|
||||
/*
|
||||
see if we are in the airbrake phase of a VTOL landing
|
||||
*/
|
||||
bool QuadPlane::in_vtol_airbrake(void) const
|
||||
{
|
||||
if (plane.control_mode == &plane.mode_qrtl &&
|
||||
poscontrol.get_state() == QPOS_AIRBRAKE) {
|
||||
return true;
|
||||
}
|
||||
if (plane.control_mode == &plane.mode_auto &&
|
||||
is_vtol_land(plane.mission.get_current_nav_cmd().id) &&
|
||||
poscontrol.get_state() == QPOS_AIRBRAKE) {
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
// return true if we should show VTOL view
|
||||
bool QuadPlane::show_vtol_view() const
|
||||
{
|
||||
|
|
@ -3873,4 +3894,15 @@ MAV_VTOL_STATE SLT_Transition::get_mav_vtol_state() const
|
|||
return MAV_VTOL_STATE_UNDEFINED;
|
||||
}
|
||||
|
||||
/*
|
||||
see if we are in a VTOL takeoff
|
||||
*/
|
||||
bool QuadPlane::in_vtol_takeoff(void) const
|
||||
{
|
||||
if (in_vtol_auto() && is_vtol_takeoff(plane.mission.get_current_nav_cmd().id)) {
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
#endif // HAL_QUADPLANE_ENABLED
|
||||
|
|
|
|||
|
|
@ -108,6 +108,7 @@ public:
|
|||
bool verify_vtol_land(void);
|
||||
bool in_vtol_auto(void) const;
|
||||
bool in_vtol_mode(void) const;
|
||||
bool in_vtol_takeoff(void) const;
|
||||
bool in_vtol_posvel_mode(void) const;
|
||||
void update_throttle_hover();
|
||||
bool show_vtol_view() const;
|
||||
|
|
@ -433,6 +434,7 @@ private:
|
|||
return AP_HAL::millis() - last_state_change_ms;
|
||||
}
|
||||
Vector3p target_cm;
|
||||
Vector2f xy_correction;
|
||||
Vector3f target_vel_cms;
|
||||
bool slow_descent:1;
|
||||
bool pilot_correction_active;
|
||||
|
|
@ -442,6 +444,8 @@ private:
|
|||
bool reached_wp_speed;
|
||||
uint32_t last_run_ms;
|
||||
float pos1_start_speed;
|
||||
Vector2f velocity_match;
|
||||
uint32_t last_velocity_match_ms;
|
||||
private:
|
||||
uint32_t last_state_change_ms;
|
||||
enum position_control_state state;
|
||||
|
|
@ -564,6 +568,11 @@ private:
|
|||
see if we are in the VTOL position control phase of a landing
|
||||
*/
|
||||
bool in_vtol_land_poscontrol(void) const;
|
||||
|
||||
/*
|
||||
are we in the airbrake phase of a VTOL landing?
|
||||
*/
|
||||
bool in_vtol_airbrake(void) const;
|
||||
|
||||
// Q assist state, can be enabled, disabled or force. Default to enabled
|
||||
Q_ASSIST_STATE_ENUM q_assist_state = Q_ASSIST_STATE_ENUM::Q_ASSIST_ENABLED;
|
||||
|
|
|
|||
Loading…
Reference in New Issue