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Plane: added glider pullup support

This commit is contained in:
Andrew Tridgell 2024-08-30 13:30:48 +10:00
parent c0b89eccd1
commit 2f19dfef8a
11 changed files with 407 additions and 8 deletions
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23
ArduPlane/ArduPlane.cpp
View File

@ -216,6 +216,13 @@ void Plane::update_speed_height(void)
should_run_tecs = false;
}
#endif
#if AP_PLANE_GLIDER_PULLUP_ENABLED
if (mode_auto.in_pullup()) {
should_run_tecs = false;
}
#endif
if (should_run_tecs) {
// Call TECS 50Hz update. Note that we call this regardless of
// throttle suppressed, as this needs to be running for
@ -512,6 +519,12 @@ void Plane::update_fly_forward(void)
}
#endif
if (auto_state.idle_mode) {
// don't fuse airspeed when in balloon lift
ahrs.set_fly_forward(false);
return;
}
if (flight_stage == AP_FixedWing::FlightStage::LAND) {
ahrs.set_fly_forward(landing.is_flying_forward());
return;
@ -578,6 +591,16 @@ void Plane::update_alt()
should_run_tecs = false;
}
#endif
if (auto_state.idle_mode) {
should_run_tecs = false;
}
#if AP_PLANE_GLIDER_PULLUP_ENABLED
if (mode_auto.in_pullup()) {
should_run_tecs = false;
}
#endif
if (should_run_tecs && !throttle_suppressed) {

6
ArduPlane/Parameters.cpp
View File

@ -1019,6 +1019,12 @@ const AP_Param::Info Plane::var_info[] = {
// @Path: mode_takeoff.cpp
GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff),
#if AP_PLANE_GLIDER_PULLUP_ENABLED
// @Group: PUP_
// @Path: pullup.cpp
GOBJECTN(mode_auto.pullup, pullup, "PUP_", GliderPullup),
#endif
// @Group:
// @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
PARAM_VEHICLE_INFO,

2
ArduPlane/Parameters.h
View File

@ -359,6 +359,8 @@ public:
k_param_autotune_options,
k_param_takeoff_throttle_min,
k_param_takeoff_options,
k_param_pullup = 270,
};
AP_Int16 format_version;

10
ArduPlane/Plane.h
View File

@ -121,6 +121,7 @@
#include "avoidance_adsb.h"
#endif
#include "AP_Arming.h"
#include "pullup.h"
/*
main APM:Plane class
@ -175,6 +176,9 @@ public:
#if AP_EXTERNAL_CONTROL_ENABLED
friend class AP_ExternalControl_Plane;
#endif
#if AP_PLANE_GLIDER_PULLUP_ENABLED
friend class GliderPullup;
#endif
Plane(void);
@ -515,6 +519,11 @@ private:
// have we checked for an auto-land?
bool checked_for_autoland;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
// are we in idle mode? used for balloon launch to stop servo
// movement until altitude is reached
bool idle_mode;
// are we in VTOL mode in AUTO?
bool vtol_mode;
@ -959,6 +968,7 @@ private:
void do_loiter_turns(const AP_Mission::Mission_Command& cmd);
void do_loiter_time(const AP_Mission::Mission_Command& cmd);
void do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd);
void do_altitude_wait(const AP_Mission::Mission_Command& cmd);
void do_loiter_to_alt(const AP_Mission::Mission_Command& cmd);
void do_vtol_takeoff(const AP_Mission::Mission_Command& cmd);
void do_vtol_land(const AP_Mission::Mission_Command& cmd);

57
ArduPlane/commands_logic.cpp
View File

@ -27,6 +27,9 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
nav_controller->set_data_is_stale();
// start non-idle
auto_state.idle_mode = false;
// reset loiter start time. New command is a new loiter
loiter.start_time_ms = 0;
@ -92,6 +95,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_NAV_ALTITUDE_WAIT:
do_altitude_wait(cmd);
break;
#if HAL_QUADPLANE_ENABLED
@ -501,6 +505,15 @@ void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
reset_offset_altitude();
}
void Plane::do_altitude_wait(const AP_Mission::Mission_Command& cmd)
{
// set all servos to trim until we reach altitude or descent speed
auto_state.idle_mode = true;
#if AP_PLANE_GLIDER_PULLUP_ENABLED
mode_auto.pullup.reset();
#endif
}
void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
{
//set target alt
@ -831,17 +844,46 @@ bool Plane::verify_continue_and_change_alt()
*/
bool ModeAuto::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
{
if (plane.current_loc.alt > cmd.content.altitude_wait.altitude*100.0f) {
gcs().send_text(MAV_SEVERITY_INFO,"Reached altitude");
return true;
#if AP_PLANE_GLIDER_PULLUP_ENABLED
if (pullup.in_pullup()) {
return pullup.verify_pullup();
}
if (plane.auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
#endif
/*
the target altitude in param1 is always AMSL
*/
const float alt_diff = plane.current_loc.alt*0.01 - cmd.content.altitude_wait.altitude;
bool completed = false;
if (alt_diff > 0) {
gcs().send_text(MAV_SEVERITY_INFO,"Reached altitude");
completed = true;
} else if (cmd.content.altitude_wait.descent_rate > 0 &&
plane.auto_state.sink_rate > cmd.content.altitude_wait.descent_rate) {
gcs().send_text(MAV_SEVERITY_INFO, "Reached descent rate %.1f m/s", (double)plane.auto_state.sink_rate);
return true;
completed = true;
}
// if requested, wiggle servos
if (cmd.content.altitude_wait.wiggle_time != 0) {
if (completed) {
#if AP_PLANE_GLIDER_PULLUP_ENABLED
if (pullup.pullup_start()) {
// we are doing a pullup, ALTITUDE_WAIT not complete until pullup is done
return false;
}
#endif
return true;
}
const float time_to_alt = alt_diff / MIN(plane.auto_state.sink_rate, -0.01);
/*
if requested, wiggle servos
we don't start a wiggle if we expect to release soon as we don't
want the servos to be off trim at the time of release
*/
if (cmd.content.altitude_wait.wiggle_time != 0 &&
(plane.auto_state.sink_rate > 0 || time_to_alt > cmd.content.altitude_wait.wiggle_time*5)) {
if (wiggle.stage == 0 &&
AP_HAL::millis() - wiggle.last_ms > cmd.content.altitude_wait.wiggle_time*1000) {
wiggle.stage = 1;
@ -1291,3 +1333,4 @@ bool Plane::in_auto_mission_id(uint16_t command) const
{
return control_mode == &mode_auto && mission.get_current_nav_id() == command;
}

3
ArduPlane/mode.cpp
View File

@ -101,6 +101,9 @@ bool Mode::enter()
plane.target_altitude.terrain_following_pending = false;
#endif
// disable auto mode servo idle during altitude wait command
plane.auto_state.idle_mode = false;
bool enter_result = _enter();
if (enter_result) {

10
ArduPlane/mode.h
View File

@ -9,6 +9,7 @@
#include "quadplane.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h>
#include "pullup.h"
class AC_PosControl;
class AC_AttitudeControl_Multi;
@ -208,6 +209,7 @@ protected:
class ModeAuto : public Mode
{
public:
friend class Plane;
Number mode_number() const override { return Number::AUTO; }
const char *name() const override { return "AUTO"; }
@ -237,6 +239,10 @@ public:
void run() override;
#if AP_PLANE_GLIDER_PULLUP_ENABLED
bool in_pullup() const { return pullup.in_pullup(); }
#endif
protected:
bool _enter() override;
@ -257,6 +263,10 @@ private:
uint8_t stage;
uint32_t last_ms;
} wiggle;
#if AP_PLANE_GLIDER_PULLUP_ENABLED
GliderPullup pullup;
#endif // AP_PLANE_GLIDER_PULLUP_ENABLED
};

13
ArduPlane/mode_auto.cpp
View File

@ -79,6 +79,12 @@ void ModeAuto::update()
}
#endif
#if AP_PLANE_GLIDER_PULLUP_ENABLED
if (pullup.in_pullup()) {
return;
}
#endif
if (nav_cmd_id == MAV_CMD_NAV_TAKEOFF ||
(nav_cmd_id == MAV_CMD_NAV_LAND && plane.flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING)) {
plane.takeoff_calc_roll();
@ -166,6 +172,13 @@ bool ModeAuto::is_landing() const
void ModeAuto::run()
{
#if AP_PLANE_GLIDER_PULLUP_ENABLED
if (pullup.in_pullup()) {
pullup.stabilize_pullup();
return;
}
#endif
if (plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_ALTITUDE_WAIT) {
wiggle_servos();

2
ArduPlane/navigation.cpp
View File

@ -321,7 +321,7 @@ void Plane::update_loiter_update_nav(uint16_t radius)
if ((loiter.start_time_ms == 0 &&
(control_mode == &mode_auto || control_mode == &mode_guided) &&
auto_state.crosstrack &&
current_loc.get_distance(next_WP_loc) > radius*3) ||
current_loc.get_distance(next_WP_loc) > 3 * nav_controller->loiter_radius(radius)) ||
quadplane_qrtl_switch) {
/*
if never reached loiter point and using crosstrack and somewhat far away from loiter point

239
ArduPlane/pullup.cpp Normal file
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@ -0,0 +1,239 @@
#include "Plane.h"
/*
support for pullup after an alitude wait. Used for high altitude gliders
*/
#if AP_PLANE_GLIDER_PULLUP_ENABLED
// Pullup control parameters
const AP_Param::GroupInfo GliderPullup::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable pullup after altitude wait
// @Description: Enable pullup after altitude wait
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, GliderPullup, enable, 0, AP_PARAM_FLAG_ENABLE),
// @Param: ELEV_OFS
// @DisplayName: Elevator deflection used before starting pullup
// @Description: Elevator deflection offset from -1 to 1 while waiting for airspeed to rise before starting close loop control of the pullup.
// @Range: -1.0 1.0
// @User: Advanced
AP_GROUPINFO("ELEV_OFS", 2, GliderPullup, elev_offset, 0.1f),
// @Param: NG_LIM
// @DisplayName: Maximum normal load factor during pullup
// @Description: This is the nominal maximum value of normal load factor used during the closed loop pitch rate control of the pullup.
// @Range: 1.0 4.0
// @User: Advanced
AP_GROUPINFO("NG_LIM", 3, GliderPullup, ng_limit, 2.0f),
// @Param: NG_JERK_LIM
// @DisplayName: Maximum normal load factor rate of change during pullup
// @Description: The normal load factor used for closed loop pitch rate control of the pullup will be ramped up to the value set by PUP_NG_LIM at the rate of change set by this parameter. The parameter value specified will be scaled internally by 1/EAS2TAS.
// @Units: 1/s
// @Range: 0.1 10.0
// @User: Advanced
AP_GROUPINFO("NG_JERK_LIM", 4, GliderPullup, ng_jerk_limit, 4.0f),
// @Param: PITCH
// @DisplayName: Target pitch angle during pullup
// @Description: The vehicle will attempt achieve this pitch angle during the pull-up maneouvre.
// @Units: deg
// @Range: -5 15
// @User: Advanced
AP_GROUPINFO("PITCH", 5, GliderPullup, pitch_dem, 3),
// @Param: ARSPD_START
// @DisplayName: Pullup target airspeed
// @Description: Target airspeed for initial airspeed wait
// @Units: m/s
// @Range: 0 100
// @User: Advanced
AP_GROUPINFO("ARSPD_START", 6, GliderPullup, airspeed_start, 30),
// @Param: PITCH_START
// @DisplayName: Pullup target pitch
// @Description: Target pitch for initial pullup
// @Units: deg
// @Range: -80 0
// @User: Advanced
AP_GROUPINFO("PITCH_START", 7, GliderPullup, pitch_start, -60),
AP_GROUPEND
};
// constructor
GliderPullup::GliderPullup(void)
{
AP_Param::setup_object_defaults(this, var_info);
}
/*
return true if in a pullup manoeuvre at the end of NAV_ALTITUDE_WAIT
*/
bool GliderPullup::in_pullup(void) const
{
return plane.control_mode == &plane.mode_auto &&
plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_ALTITUDE_WAIT &&
stage != Stage::NONE;
}
/*
start a pullup maneouvre, called when NAV_ALTITUDE_WAIT has reached
altitude or exceeded descent rate
*/
bool GliderPullup::pullup_start(void)
{
if (enable != 1) {
return false;
}
// release balloon
SRV_Channels::set_output_scaled(SRV_Channel::k_lift_release, 100);
stage = Stage::WAIT_AIRSPEED;
plane.auto_state.idle_mode = false;
float aspeed;
if (!plane.ahrs.airspeed_estimate(aspeed)) {
aspeed = -1;
}
gcs().send_text(MAV_SEVERITY_INFO, "Start pullup airspeed %.1fm/s at %.1fm AMSL", aspeed, plane.current_loc.alt*0.01);
return true;
}
/*
first stage pullup from balloon release, verify completion
*/
bool GliderPullup::verify_pullup(void)
{
const auto &ahrs = plane.ahrs;
const auto &current_loc = plane.current_loc;
const auto &aparm = plane.aparm;
switch (stage) {
case Stage::WAIT_AIRSPEED: {
float aspeed;
if (ahrs.airspeed_estimate(aspeed) && aspeed > airspeed_start) {
gcs().send_text(MAV_SEVERITY_INFO, "Pullup airspeed %.1fm/s alt %.1fm AMSL", aspeed, current_loc.alt*0.01);
stage = Stage::WAIT_PITCH;
}
return false;
}
case Stage::WAIT_PITCH: {
if (ahrs.pitch_sensor*0.01 > pitch_start && fabsf(ahrs.roll_sensor*0.01) < 90) {
gcs().send_text(MAV_SEVERITY_INFO, "Pullup pitch p=%.1f r=%.1f alt %.1fm AMSL",
ahrs.pitch_sensor*0.01,
ahrs.roll_sensor*0.01,
current_loc.alt*0.01);
stage = Stage::WAIT_LEVEL;
}
return false;
}
case Stage::PUSH_NOSE_DOWN: {
if (fabsf(ahrs.roll_sensor*0.01) < aparm.roll_limit) {
stage = Stage::WAIT_LEVEL;
}
return false;
}
case Stage::WAIT_LEVEL: {
// When pitch has raised past lower limit used by speed controller, wait for airspeed to approach
// target value before handing over control of pitch demand to speed controller
bool pitchup_complete = ahrs.pitch_sensor*0.01 > MIN(0, aparm.pitch_limit_min);
const float pitch_lag_time = 1.0f * sqrtf(ahrs.get_EAS2TAS());
float aspeed;
const float aspeed_derivative = (ahrs.get_accel().x + GRAVITY_MSS * ahrs.get_DCM_rotation_body_to_ned().c.x) / ahrs.get_EAS2TAS();
bool airspeed_low = ahrs.airspeed_estimate(aspeed) ? (aspeed + aspeed_derivative * pitch_lag_time) < 0.01f * (float)plane.target_airspeed_cm : true;
bool roll_control_lost = fabsf(ahrs.roll_sensor*0.01) > aparm.roll_limit;
if (pitchup_complete && airspeed_low && !roll_control_lost) {
gcs().send_text(MAV_SEVERITY_INFO, "Pullup level r=%.1f p=%.1f alt %.1fm AMSL",
ahrs.roll_sensor*0.01, ahrs.pitch_sensor*0.01, current_loc.alt*0.01);
break;
} else if (pitchup_complete && roll_control_lost) {
// push nose down and wait to get roll control back
gcs().send_text(MAV_SEVERITY_ALERT, "Pullup level roll bad r=%.1f p=%.1f",
ahrs.roll_sensor*0.01,
ahrs.pitch_sensor*0.01);
stage = Stage::PUSH_NOSE_DOWN;
}
return false;
}
case Stage::NONE:
break;
}
// all done
stage = Stage::NONE;
return true;
}
/*
stabilize during pullup from balloon drop
*/
void GliderPullup::stabilize_pullup(void)
{
const float speed_scaler = plane.get_speed_scaler();
switch (stage) {
case Stage::WAIT_AIRSPEED: {
plane.pitchController.reset_I();
plane.yawController.reset_I();
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, elev_offset*4500);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
plane.nav_pitch_cd = 0;
plane.nav_roll_cd = 0;
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.rollController.get_rate_out(0, speed_scaler));
ng_demand = 0.0;
break;
}
case Stage::WAIT_PITCH: {
plane.yawController.reset_I();
plane.nav_roll_cd = 0;
plane.nav_pitch_cd = 0;
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, plane.rollController.get_rate_out(0, speed_scaler));
float aspeed;
const auto &ahrs = plane.ahrs;
if (ahrs.airspeed_estimate(aspeed)) {
// apply a rate of change limit to the ng pullup demand
ng_demand += MAX(ng_jerk_limit / ahrs.get_EAS2TAS(), 0.1f) * plane.scheduler.get_loop_period_s();
ng_demand = MIN(ng_demand, ng_limit);
const float VTAS_ref = ahrs.get_EAS2TAS() * aspeed;
const float pullup_accel = ng_demand * GRAVITY_MSS;
const float demanded_rate_dps = degrees(pullup_accel / VTAS_ref);
const uint32_t elev_trim_offset_cd = 4500.0f * elev_offset * (1.0f - ng_demand / ng_limit);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, elev_trim_offset_cd + plane.pitchController.get_rate_out(demanded_rate_dps, speed_scaler));
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, elev_offset*4500);
}
break;
}
case Stage::PUSH_NOSE_DOWN: {
plane.nav_pitch_cd = plane.aparm.pitch_limit_min*100;
plane.stabilize_pitch();
plane.nav_roll_cd = 0;
plane.stabilize_roll();
plane.stabilize_yaw();
ng_demand = 0.0f;
break;
}
case Stage::WAIT_LEVEL:
plane.nav_pitch_cd = MAX((plane.aparm.pitch_limit_min + 5), pitch_dem)*100;
plane.stabilize_pitch();
plane.nav_roll_cd = 0;
plane.stabilize_roll();
plane.stabilize_yaw();
ng_demand = 0.0f;
break;
case Stage::NONE:
break;
}
// we have done stabilisation
plane.last_stabilize_ms = AP_HAL::millis();
}
#endif // AP_PLANE_GLIDER_PULLUP_ENABLED

50
ArduPlane/pullup.h Normal file
View File

@ -0,0 +1,50 @@
#pragma once
/*
support for pullup after NAV_ALTITUDE_WAIT for gliders
*/
#ifndef AP_PLANE_GLIDER_PULLUP_ENABLED
#define AP_PLANE_GLIDER_PULLUP_ENABLED CONFIG_HAL_BOARD == HAL_BOARD_SITL
#endif
#if AP_PLANE_GLIDER_PULLUP_ENABLED
class GliderPullup
{
public:
GliderPullup(void);
void reset(void) {
stage = Stage::NONE;
}
bool in_pullup() const;
bool verify_pullup(void);
void stabilize_pullup(void);
bool pullup_complete(void);
bool pullup_start(void);
enum class Stage : uint8_t {
NONE=0,
WAIT_AIRSPEED,
WAIT_PITCH,
WAIT_LEVEL,
PUSH_NOSE_DOWN,
};
static const struct AP_Param::GroupInfo var_info[];
private:
Stage stage;
AP_Int8 enable;
AP_Float elev_offset; // fraction of full elevator applied during WAIT_AIRSPEED and released during WAIT_PITCH
AP_Float ng_limit;
AP_Float airspeed_start;
AP_Float pitch_start;
AP_Float ng_jerk_limit;
AP_Float pitch_dem;
float ng_demand;
};
#endif // AP_PLANE_GLIDER_PULLUP_ENABLED