mirror of https://github.com/ArduPilot/ardupilot
AC_WPNav: support for SCurve navigation
set_wp_destination clear yaw target limit velocity and acceleration based on track slope add is_active() and remove unused reached_spline_destination init accepts desired speed set_kinematic_limits uses current speed limits instead of defaults add time compression to prevent target moving too fast for air implement alternative spline remove vel-target-length set_wp_destination always calculates this leg set_kinematic_limits moved to scurve fix origin speed after spline segment spline terrain following fix handle s-curves with mismatching alt types fix set_spline_destination_next add update_track_with_speed_accel_limits Change to next waypoint at corner apex use scurve advance along track remove unused definitions and out-of-date todo set_spline_destination_next sets fast_waypoint scurve origin speed set from spline target velocity fixup takeoff delay
This commit is contained in:
Leonard Hall
Randy Mackay
parent
6a8ba6f329
commit
32c27b32aa
File diff suppressed because it is too large
Load Diff
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@ -3,6 +3,8 @@
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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Math/SCurve.h>
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#include <AP_Math/SplineCurve.h>
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#include <AP_Common/Location.h>
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#include <AP_InertialNav/AP_InertialNav.h> // Inertial Navigation library
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#include <AC_AttitudeControl/AC_PosControl.h> // Position control library
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@ -12,11 +14,8 @@
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// maximum velocities and accelerations
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#define WPNAV_ACCELERATION 250.0f // maximum horizontal acceleration in cm/s/s that wp navigation will request
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#define WPNAV_ACCELERATION_MIN 50.0f // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
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#define WPNAV_WP_SPEED 1000.0f // default horizontal speed between waypoints in cm/s
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#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
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#define WPNAV_WP_TRACK_SPEED_MIN 50.0f // minimum speed along track of the target point the vehicle is chasing in cm/s (used as target slows down before reaching destination)
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#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
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#define WPNAV_WP_RADIUS_MIN 5.0f // minimum waypoint radius in cm
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@ -24,15 +23,7 @@
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#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
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#define WPNAV_WP_ACCEL_Z_DEFAULT 100.0f // default vertical acceleration between waypoints in cm/s/s
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#define WPNAV_LEASH_LENGTH_MIN 100.0f // minimum leash lengths in cm
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#define WPNAV_WP_FAST_OVERSHOOT_MAX 200.0f // 2m overshoot is allowed during fast waypoints to allow for smooth transitions to next waypoint
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#define WPNAV_YAW_DIST_MIN 200 // minimum track length which will lead to target yaw being updated to point at next waypoint. Under this distance the yaw target will be frozen at the current heading
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#define WPNAV_YAW_LEASH_PCT_MIN 0.134f // target point must be at least this distance from the vehicle (expressed as a percentage of the maximum distance it can be from the vehicle - i.e. the leash length)
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#define WPNAV_RANGEFINDER_FILT_Z 0.25f // range finder distance filtered at 0.25hz
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#define WPNAV_YAW_VEL_MIN 10 // target velocity must be at least 10cm/s for vehicle's yaw to change
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class AC_WPNav
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{
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@ -71,9 +62,10 @@ public:
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///
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/// wp_and_spline_init - initialise straight line and spline waypoint controllers
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/// 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
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/// updates target roll, pitch targets and I terms based on vehicle lean angles
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/// should be called once before the waypoint controller is used but does not need to be called before subsequent updates to destination
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void wp_and_spline_init();
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void wp_and_spline_init(float speed_cms = 0.0f);
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/// set current target horizontal speed during wp navigation
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void set_speed_xy(float speed_cms);
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@ -109,29 +101,29 @@ public:
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bool origin_and_destination_are_terrain_alt() const { return _terrain_alt; }
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/// set_wp_destination waypoint using location class
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/// provide the next_destination if known
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/// returns false if conversion from location to vector from ekf origin cannot be calculated
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bool set_wp_destination(const Location& destination);
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bool set_wp_destination_loc(const Location& destination);
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bool set_wp_destination_next_loc(const Location& destination);
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// returns wp location using location class.
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// returns false if unable to convert from target vector to global
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// coordinates
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bool get_wp_destination(Location& destination) const;
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bool get_wp_destination_loc(Location& destination) const;
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// returns object avoidance adjusted destination which is always the same as get_wp_destination
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// having this function unifies the AC_WPNav_OA and AC_WPNav interfaces making vehicle code simpler
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virtual bool get_oa_wp_destination(Location& destination) const { return get_wp_destination(destination); }
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virtual bool get_oa_wp_destination(Location& destination) const { return get_wp_destination_loc(destination); }
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/// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
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/// terrain_alt should be true if destination.z is a desired altitude above terrain
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bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false);
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virtual bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false);
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bool set_wp_destination_next(const Vector3f& destination, bool terrain_alt = false);
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/// set waypoint destination using NED position vector from ekf origin in meters
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/// provide next_destination_NED if known
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bool set_wp_destination_NED(const Vector3f& destination_NED);
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/// set_wp_origin_and_destination - set origin and destination waypoints using position vectors (distance from ekf origin in cm)
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/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
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/// returns false on failure (likely caused by missing terrain data)
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virtual bool set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt = false);
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bool set_wp_destination_next_NED(const Vector3f& destination_NED);
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/// shift_wp_origin_to_current_pos - shifts the origin and destination so the origin starts at the current position
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/// used to reset the position just before takeoff
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@ -167,63 +159,47 @@ public:
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return get_wp_distance_to_destination() < _wp_radius_cm;
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}
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/// set_fast_waypoint - set to true to ignore the waypoint radius and consider the waypoint 'reached' the moment the intermediate point reaches it
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void set_fast_waypoint(bool fast) { _flags.fast_waypoint = fast; }
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/// update_wpnav - run the wp controller - should be called at 100hz or higher
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virtual bool update_wpnav();
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// check_wp_leash_length - check recalc_wp_leash flag and calls calculate_wp_leash_length() if necessary
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// should be called after _pos_control.update_xy_controller which may have changed the position controller leash lengths
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void check_wp_leash_length();
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/// calculate_wp_leash_length - calculates track speed, acceleration and leash lengths for waypoint controller
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void calculate_wp_leash_length();
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// returns true if update_wpnav has been run very recently
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bool is_active() const;
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///
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/// spline methods
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///
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// segment start types
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// stop - vehicle is not moving at origin
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// straight-fast - vehicle is moving, previous segment is straight. vehicle will fly straight through the waypoint before beginning it's spline path to the next wp
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// _flag.segment_type holds whether prev segment is straight vs spline but we don't know if it has a delay
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// spline-fast - vehicle is moving, previous segment is splined, vehicle will fly through waypoint but previous segment should have it flying in the correct direction (i.e. exactly parallel to position difference vector from previous segment's origin to this segment's destination)
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// segment end types
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// stop - vehicle is not moving at destination
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// straight-fast - next segment is straight, vehicle's destination velocity should be directly along track from this segment's destination to next segment's destination
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// spline-fast - next segment is spline, vehicle's destination velocity should be parallel to position difference vector from previous segment's origin to this segment's destination
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// get target yaw in centi-degrees (used for wp and spline navigation)
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float get_yaw() const;
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float get_yaw_rate() const;
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/// set_spline_destination waypoint using location class
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/// returns false if conversion from location to vector from ekf origin cannot be calculated
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/// terrain_alt should be true if destination.z is a desired altitude above terrain (false if its desired altitude above ekf origin)
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/// stopped_at_start should be set to true if vehicle is stopped at the origin
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/// seg_end_type should be set to stopped, straight or spline depending upon the next segment's type
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/// next_destination should be set to the next segment's destination if the seg_end_type is SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE
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bool set_spline_destination(const Location& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, Location next_destination);
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/// next_destination should be the next segment's destination
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/// next_is_spline should be true if next_destination is a spline segment
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bool set_spline_destination_loc(const Location& destination, const Location& next_destination, bool next_is_spline);
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/// set next destination (e.g. the one after the current destination) as a spline segment specified as a location
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/// returns false if conversion from location to vector from ekf origin cannot be calculated
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/// next_next_destination should be the next segment's destination
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/// next_next_is_spline should be true if next_next_destination is a spline segment
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bool set_spline_destination_next_loc(const Location& next_destination, const Location& next_next_destination, bool next_next_is_spline);
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/// set_spline_destination waypoint using position vector (distance from ekf origin in cm)
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/// returns false if conversion from location to vector from ekf origin cannot be calculated
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/// terrain_alt should be true if destination.z is a desired altitudes above terrain (false if its desired altitudes above ekf origin)
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/// stopped_at_start should be set to true if vehicle is stopped at the origin
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/// seg_end_type should be set to stopped, straight or spline depending upon the next segment's type
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/// next_destination should be set to the next segment's destination if the seg_end_type is SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE
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/// next_destination.z must be in the same "frame" as destination.z (i.e. if destination is a alt-above-terrain, next_destination should be too)
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bool set_spline_destination(const Vector3f& destination, bool terrain_alt, bool stopped_at_start, spline_segment_end_type seg_end_type, const Vector3f& next_destination);
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/// terrain_alt should be true if destination.z is a desired altitude above terrain (false if its desired altitudes above ekf origin)
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/// next_destination is the next segment's destination
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/// next_terrain_alt should be true if next_destination.z is a desired altitude above terrain (false if its desired altitudes above ekf origin)
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/// next_destination.z must be in the same "frame" as destination.z (i.e. if destination is a alt-above-terrain, next_destination must be too)
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/// next_is_spline should be true if next_destination is a spline segment
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bool set_spline_destination(const Vector3f& destination, bool terrain_alt, const Vector3f& next_destination, bool next_terrain_alt, bool next_is_spline);
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/// set_spline_origin_and_destination - set origin and destination waypoints using position vectors (distance from ekf origin in cm)
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/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if desired altitudes above ekf origin)
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/// stopped_at_start should be set to true if vehicle is stopped at the origin
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/// seg_end_type should be set to stopped, straight or spline depending upon the next segment's type
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/// next_destination should be set to the next segment's destination if the seg_end_type is SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE
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bool set_spline_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt, bool stopped_at_start, spline_segment_end_type seg_end_type, const Vector3f& next_destination);
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/// update_spline - update spline controller
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bool update_spline();
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/// set next destination (e.g. the one after the current destination) as an offset (in cm, NEU frame) from the EKF origin
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/// next_terrain_alt should be true if next_destination.z is a desired altitude above terrain (false if its desired altitudes above ekf origin)
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/// next_next_destination is the next segment's destination
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/// next_next_terrain_alt should be true if next_next_destination.z is a desired altitude above terrain (false if it is desired altitude above ekf origin)
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/// next_next_destination.z must be in the same "frame" as destination.z (i.e. if next_destination is a alt-above-terrain, next_next_destination must be too)
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/// next_next_is_spline should be true if next_next_destination is a spline segment
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bool set_spline_destination_next(const Vector3f& next_destination, bool next_terrain_alt, const Vector3f& next_next_destination, bool next_next_terrain_alt, bool next_next_is_spline);
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///
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/// shared methods
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/// advance_wp_target_along_track - move target location along track from origin to destination
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bool advance_wp_target_along_track(float dt);
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/// recalculate path with update speed and/or acceleration limits
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void update_track_with_speed_accel_limits();
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/// return the crosstrack_error - horizontal error of the actual position vs the desired position
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float crosstrack_error() const { return _track_error_xy;}
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struct wpnav_flags {
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uint8_t reached_destination : 1; // true if we have reached the destination
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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
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uint8_t slowing_down : 1; // true when target point is slowing down before reaching the destination
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uint8_t recalc_wp_leash : 1; // true if we need to recalculate the leash lengths because of changes in speed or acceleration
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uint8_t new_wp_destination : 1; // true if we have just received a new destination. allows us to freeze the position controller's xy feed forward
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SegmentType segment_type : 1; // active segment is either straight or spline
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uint8_t wp_yaw_set : 1; // true if yaw target has been set
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} _flags;
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/// calc_slow_down_distance - calculates distance before waypoint that target point should begin to slow-down assuming it is traveling at full speed
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void calc_slow_down_distance(float speed_cms, float accel_cmss);
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/// get_slow_down_speed - returns target speed of target point based on distance from the destination (in cm)
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float get_slow_down_speed(float dist_from_dest_cm, float accel_cmss);
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/// wp_speed_update - calculates how to change speed when changes are requested
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void wp_speed_update(float dt);
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/// spline protected functions
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/// update_spline_solution - recalculates hermite_spline_solution grid
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void update_spline_solution(const Vector3f& origin, const Vector3f& dest, const Vector3f& origin_vel, const Vector3f& dest_vel);
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/// advance_spline_target_along_track - move target location along track from origin to destination
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/// returns false if it is unable to advance (most likely because of missing terrain data)
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bool advance_spline_target_along_track(float dt);
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/// calc_spline_pos_vel - update position and velocity from given spline time
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/// relies on update_spline_solution being called since the previous
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void calc_spline_pos_vel(float spline_time, Vector3f& position, Vector3f& velocity);
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// 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)
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bool get_terrain_offset(float& offset_cm);
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// set heading used for spline and waypoint navigation
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void set_yaw_cd(float heading_cd);
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void set_yaw_rate_cds(float yaw_rate_cds);
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// helper function to calculate scurve jerk and jerk_time values
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// updates _scurve_jerk and _scurve_jerk_time
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void calc_scurve_jerk_and_jerk_time();
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// references and pointers to external libraries
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const AP_InertialNav& _inav;
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AP_Float _wp_radius_cm; // distance from a waypoint in cm that, when crossed, indicates the wp has been reached
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AP_Float _wp_accel_cmss; // horizontal acceleration in cm/s/s during missions
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AP_Float _wp_accel_z_cmss; // vertical acceleration in cm/s/s during missions
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AP_Float _wp_jerk; // maximum jerk used to generate s-curve trajectories in m/s/s/s
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// scurve
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SCurve _scurve_prev_leg; // previous spline trajectory used to blend with current s-curve trajectory
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SCurve _scurve_this_leg; // current spline trajectory
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SCurve _scurve_next_leg; // next spline trajectory used to blend with current s-curve trajectory
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float _scurve_jerk; // scurve jerk max in m/s/s/s
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float _scurve_jerk_time; // scurve jerk time (time in seconds for jerk to increase from zero _scurve_jerk)
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// spline curves
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SplineCurve _spline_this_leg; // spline curve for current segment
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SplineCurve _spline_next_leg; // spline curve for next segment
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// the type of this leg
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bool _this_leg_is_spline; // true if this leg is a spline
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bool _next_leg_is_spline; // true if the next leg is a spline
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// waypoint controller internal variables
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uint32_t _wp_last_update; // time of last update_wpnav call
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float _wp_desired_speed_xy_cms; // desired wp speed in cm/sec
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Vector3f _origin; // starting point of trip to next waypoint in cm from ekf origin
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Vector3f _destination; // target destination in cm from ekf origin
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Vector3f _pos_delta_unit; // each axis's percentage of the total track from origin to destination
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float _track_error_xy; // horizontal error of the actual position vs the desired position
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float _track_length; // distance in cm between origin and destination
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float _track_length_xy; // horizontal distance in cm between origin and destination
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float _track_desired; // our desired distance along the track in cm
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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
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float _track_accel; // acceleration along track
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float _track_speed; // speed in cm/s along track
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float _track_leash_length; // leash length along track
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float _slow_down_dist; // vehicle should begin to slow down once it is within this distance from the destination
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// spline variables
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float _spline_time; // current spline time between origin and destination
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float _spline_time_scale; // current spline time between origin and destination
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Vector3f _spline_origin_vel; // the target velocity vector at the origin of the spline segment
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Vector3f _spline_destination_vel;// the target velocity vector at the destination point of the spline segment
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Vector3f _hermite_spline_solution[4]; // array describing spline path between origin and destination
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float _spline_vel_scaler; //
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float _yaw; // heading according to yaw
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float _track_scalar_dt; // time compression multiplier to slow the progress along the track
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float _yaw; // current yaw heading in centi-degrees based on track direction
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float _yaw_rate; // current yaw rate in centi-degrees/second based on track curvature
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// terrain following variables
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bool _terrain_alt; // true if origin and destination.z are alt-above-terrain, false if alt-above-ekf-origin
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bool _rangefinder_available;
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AP_Int8 _rangefinder_use;
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bool _rangefinder_healthy;
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float _rangefinder_alt_cm;
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bool _rangefinder_available; // true if rangefinder is enabled (user switch can turn this true/false)
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AP_Int8 _rangefinder_use; // parameter that specifies if the range finder should be used for terrain following commands
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bool _rangefinder_healthy; // true if rangefinder distance is healthy (i.e. between min and maximum)
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float _rangefinder_alt_cm; // latest distance from the rangefinder
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// position, velocity and acceleration targets passed to position controller
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float _pos_terrain_offset;
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float _vel_terrain_offset;
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float _accel_terrain_offset;
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};
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@ -11,7 +11,7 @@ bool AC_WPNav_OA::get_oa_wp_destination(Location& destination) const
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{
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// if oa inactive return unadjusted location
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if (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) {
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return get_wp_destination(destination);
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return get_wp_destination_loc(destination);
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}
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// return latest destination provided by oa path planner
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@ -19,12 +19,12 @@ bool AC_WPNav_OA::get_oa_wp_destination(Location& destination) const
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return true;
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}
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/// set_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
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/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
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/// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
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/// terrain_alt should be true if destination.z is a desired altitude above terrain
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/// returns false on failure (likely caused by missing terrain data)
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||||
bool AC_WPNav_OA::set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt)
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bool AC_WPNav_OA::set_wp_destination(const Vector3f& destination, bool terrain_alt)
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||||
{
|
||||
const bool ret = AC_WPNav::set_wp_origin_and_destination(origin, destination, terrain_alt);
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||||
const bool ret = AC_WPNav::set_wp_destination(destination, terrain_alt);
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||||
|
||||
if (ret) {
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||||
// reset object avoidance state
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||||
|
|
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|||
|
|
@ -15,10 +15,10 @@ public:
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|||
// returns false if unable to convert from target vector to global coordinates
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||||
bool get_oa_wp_destination(Location& destination) const override;
|
||||
|
||||
/// set origin and destination waypoints using position vectors (distance from ekf origin in cm)
|
||||
/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
|
||||
/// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
|
||||
/// terrain_alt should be true if destination.z is a desired altitude above terrain
|
||||
/// returns false on failure (likely caused by missing terrain data)
|
||||
bool set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt = false) override;
|
||||
bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false) override;
|
||||
|
||||
/// get horizontal distance to destination in cm
|
||||
/// always returns distance to final destination (i.e. does not use oa adjusted destination)
|
||||
|
|
|
|||
Loading…
Reference in New Issue