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AP_Scripting: cleanup Bendy_ruler vehicle target logic 

always maintain original target location
This commit is contained in:
Andrew Tridgell 2024-12-20 09:22:21 +11:00
parent 65debec053
commit 37ac512651
1 changed files with 131 additions and 156 deletions
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287
libraries/AP_Scripting/applets/Bendy_ruler.lua
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@ -1,3 +1,5 @@
local UPDATE_RATE_HZ = 10
-- MAV_COLLISION_THREAT_LEVEL
MAV_COLLISION_THREAT_LEVEL = {
NONE = 0, -- Not a threat
@ -19,9 +21,11 @@ MAV_COLLISION_ACTION={
MOVE_PERPENDICULAR=4, -- Aircraft to move perpendicular to the collision's velocity vector
RTL=5, -- Aircraft to fly directly back to its launch point
HOVER=6, -- Aircraft to stop in place
} ;
}
local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
local gcs_threat = {
src = nil,
src_id = 0,
@ -143,23 +147,19 @@ WARN_DIST_XY = bind_param("AVD_W_DIST_XY")
WARN_ACTION = bind_param("AVD_W_ACTION")
local warn_act= WARN_ACTION:get()
AVD_ENABLE = bind_param("AVD_ENABLE")
local enabled=AVD_ENABLE:get()
ROLL_LIMIT_DEG = bind_param("ROLL_LIMIT_DEG")
local roll_limit_cd=ROLL_LIMIT_DEG:get() *100
local lookahead_param=BENDY_LOOKAHEAD:get()
local margin_fence=BENDY_MARGIN_FENCE:get()
local enabled=AVD_ENABLE:get()
local current_loc=Location()
local target_loc=Location()
local thread_created = false
local current_lookahead =0
local obstacle_count
local collision_detected
local GRAVITY_MSS=9.80665
local LOCATION_SCALING_FACTOR_INV=89.83204953368922
local new_target_loc = Location()
local current_target_s
local flag=0
--Auxiliary functions
function wrap_180(angle)
@ -355,25 +355,25 @@ function within_avoidance_height(obstacle,margin, deltat)
end
--get height difference between an obstacle and our location
function obstacle_height_difference(obstacle)
location=obstacle.location
local alt1_cm=0;
location:change_alt_frame(ALT_FRAME_ABSOLUTE)
alt1_cm=location:alt()
local alt2_cm=0;
local myloc = ahrs:get_position()
myloc:change_alt_frame(ALT_FRAME_ABSOLUTE)
alt2_cm=myloc:alt()
return (alt1_cm - alt2_cm) * 0.01;
end
function obstacle_height_difference(obstacle)
location=obstacle.location
local alt1_cm=0;
location:change_alt_frame(ALT_FRAME_ABSOLUTE)
alt1_cm=location:alt()
function mission_clear(current_loc, xy_clearance, z_clearance, time_s)
if enabled==0 or warn_act ~= 2 then
gcs:send_text(0, string.format("AVD_ENABLE %d: ,WARN_ACTION: %d", enabled, warn_act))
gcs:send_text(0, "Params not enabled for clear checking")
return true
end
local alt2_cm=0;
local myloc = ahrs:get_position()
myloc:change_alt_frame(ALT_FRAME_ABSOLUTE)
alt2_cm=myloc:alt()
return (alt1_cm - alt2_cm) * 0.01;
end
--[[
this function will be used to implement
MAV_CMD_NAV_DELAY_AIRSPACE_CLEAR, CONDITION_TYPE_AIRSPACE_CLEAR
and CONDITION_TYPE_AIRSPACE_NOT_CLEAR
--]]
function mission_clear(current_loc, xy_clearance, z_clearance, time_s)
local timeout_ms = 5000
local now = millis()
--assume we are not moving
@ -386,7 +386,7 @@ end
local closest_idx = -1
local closest_dist = 5000
local closest_radius = 0
obstacle_count=avoid:num_obstacles()
local obstacle_count = avoid:num_obstacles()
if obstacle_count == 0 then
--gcs:send_text(0, "No obstacles detected")
else
@ -447,9 +447,13 @@ end
end
-- All clear
return true
end
--[[
given our location, velocity and a avoidance time, find the closest
we will come to any of the obstacles avoidance radiuses
A negative result means we will come within the avoidance radius of at least one object
--]]
function mission_avoidance_margin(our_loc, our_velocity, avoid_sec)
local timeout_ms = 5000
local margin = math.max(BENDY_MARGIN_WIDE:get(), WARN_DIST_XY:get())
@ -459,6 +463,7 @@ function mission_avoidance_margin(our_loc, our_velocity, avoid_sec)
local closest_id = 0
gcs_threat.closest_approach_z = 1000
local obs_count = 0
local obstacle_count = avoid:num_obstacles()
for i = 0, obstacle_count-1 do
-- obstacles can update via MAVLink while we are calculating
-- avoidance margins
@ -537,6 +542,9 @@ function calc_avoidance_margin(loc1, loc2, our_velocity, avoid_sec)
return obs_margin
end
--[[
calculate what our ground speed would be in a given direction, using wind estimate
--]]
function effective_groundspeed(airspeed, bearing_deg, wind_dir_rad, wind_speed)
-- Ensure airspeed is at least 1.0
airspeed = math.max(airspeed, 1.0)
@ -572,6 +580,7 @@ function have_collided(current_loc)
local ret = false
local now = millis()
local obstacle_count = avoid:num_obstacles()
for i = 0, obstacle_count-1 do
local obstacle = {}
obstacle.timestamp_ms=avoid:get_obstacle_time(i)
@ -609,13 +618,20 @@ function have_collided(current_loc)
return ret
end
function update_mission_avoidance(avd, new_target_loc)
--[[
calculate a new avoidance target location, returning the new location or nil
avd contains some meta-data on the current state
takes target_loc as the current (non-avoidance) target
returns a new target location if avoidance is needed, otherwise nil
--]]
function update_mission_avoidance(avd, target_loc)
--gcs:send_text(0, "Started mission avoidance update")
local airspeed = math.max(avd.airspeed, 1.0)
local current_loc = avd.current_loc
current_lookahead = math.min(math.max(current_lookahead, lookahead_param * 0.5), lookahead_param)
--gcs:send_text(0, "got current lookahead")
local full_distance = current_loc:get_distance(new_target_loc)
local full_distance = current_loc:get_distance(target_loc)
-- the distance we look ahead is adjusted dynamically based on avoidance results
local avoid_step1_m = current_lookahead
local avoid_step2_m = current_lookahead * 2
@ -624,7 +640,7 @@ function update_mission_avoidance(avd, new_target_loc)
local avoid_sec1 = avoid_max / airspeed
local bearing_inc_cd = 1500
local distance = airspeed * avoid_sec1
local bearing_cd =math.deg(current_loc:get_bearing(new_target_loc))*100
local bearing_cd =math.deg(current_loc:get_bearing(target_loc))*100
-- report collisions
have_collided(current_loc)
-- get the current ground course
@ -634,7 +650,7 @@ function update_mission_avoidance(avd, new_target_loc)
-- If the full distance is less than 20m, no avoidance is needed
if full_distance < 20 then
return false
return nil
end
-- Try 5 degree increments around a circle, alternating left and right. Check each one to see if flying in that direction would avoid all obstacles.
local best_bearing = bearing_cd * 0.01
@ -697,10 +713,10 @@ function update_mission_avoidance(avd, new_target_loc)
best_bearing = bearing_test
end
local test_bearings = { 0, 45, -45 }
local target_bearing = math.deg(loc_test:get_bearing(new_target_loc))
local target_bearing = math.deg(loc_test:get_bearing(target_loc))
for _, delta in ipairs(test_bearings) do
local new_bearing = target_bearing + delta
local target_distance2 = loc_test:get_distance(new_target_loc)
local target_distance2 = loc_test:get_distance(target_loc)
local distance2 = math.min(math.max(avoid_step2_m, 10), target_distance2)
local avoid_sec2 = distance2 / airspeed
local loc_test2 = location_project(loc_test, new_bearing, distance2)
@ -714,15 +730,13 @@ function update_mission_avoidance(avd, new_target_loc)
--gcs:send_text(0, string.format("Inside second if"))
-- Project the new target in the chosen direction by the full distance
local new_loc = location_project(projected_loc, bearing_test, full_distance)
new_target_loc:lat(new_loc:lat())
new_target_loc:lng(new_loc:lng())
new_target_loc:alt(new_loc:alt())
--gcs:send_text(0, string.format("M2 Lat: %.2f, M2 lon: %.2f", new_target_loc:lat(),new_target_loc:lng()))
current_lookahead = math.min(lookahead_param, current_lookahead * 1.1)
gcs_action = (i ~= 0 or delta ~= 0) and 1 or 0
--gcs:send_text(0, string.format("delta: %d",delta))
--gcs:send_text(0, string.format("Margin: %f, Margin2: %f", margin, margin2))
return i ~= 0 or delta ~= 0
if i ~= 0 or delta ~= 0 then
return new_loc
end
-- no avoidance to be done
return nil
end
end
--else
@ -743,58 +757,19 @@ function update_mission_avoidance(avd, new_target_loc)
end
-- Calculate new target location based on the best effort
local new_loc = location_project(current_loc, chosen_bearing, full_distance)
new_target_loc:lat(new_loc:lat())
new_target_loc:lng(new_loc:lng())
new_target_loc:alt(new_loc:alt())
--gcs:send_text(0, string.format("Mission avoidance updated?: True"))
return true
end
function avoidance_thread()
-- Local variables for target location and new target location
local local_target_loc = Location()
-- Get the current time
local now = millis()
-- If the request is too old (more than 2000 ms), skip processing
if now - avoidance_request.request_time_ms > 2000 then
--gcs:send_text(0, string.format("Time passed: %.2f", (now - avoidance_request.request_time_ms):tofloat()))
return -- Skip the rest of this loop iteration
end
--gcs:send_text(0, string.format("Time passed: %.2f", (now - avoidance_request.request_time_ms):tofloat()))
-- Copy the avoidance request into a local variable
avoid_req2 = avoidance_request
local_target_loc = avoid_req2.target_loc:copy()
new_target_loc = local_target_loc:copy()
--gcs:send_text(0, string.format("Local1 Lat: %.2f, Local1 lon: %.2f", local_target_loc:lat(), local_target_loc:lng()))
-- Call the function to update the mission avoidance with the request and new target location
local res = update_mission_avoidance(avoid_req2, new_target_loc)
--[[if res then
gcs:send_text(0, string.format("res: True"))
gcs:send_text(0, string.format("NT Lat: %.2f, NT lon: %.2f", new_target_loc:lat(),new_target_loc:lng()))
else
gcs:send_text(0, string.format("res: False"))
end ]]
-- Update the avoidance result directly without semaphore
--gcs:send_text(0, string.format("Local2 Lat: %.2f, Local2 lon: %.2f", local_target_loc:lat(), local_target_loc:lng()))
avoidance_result.target_loc = local_target_loc
avoidance_result.new_target_loc = res and new_target_loc or local_target_loc
avoidance_result.result_time_ms = millis()
avoidance_result.avoidance_needed = res
return new_loc
end
--[[
calculate and return an adjusted target location or return nil
for no avoidance needed
--]]
function mission_avoidance(current_loc, target_loc, groundspeed)
-- Check if avoidance is disabled or warning action is not set to 2
if enabled==0 or warn_act ~= 2 then
-- Reset threat and action if conditions aren't met
gcs_threat = {} -- Clear GCS threat data
gcs_action = 0 -- Reset GCS action
return false
end
-- Simulate thread creation for avoidance logic
avoidance_thread()
-- Get current time (milliseconds simulation)
local local_target_loc = Location()
--[[
fill in avoidance_result with current state
--]]
local now = millis() -- Populate avoidance request with current data
avoidance_request.current_loc = current_loc
avoidance_request.target_loc = target_loc
@ -804,93 +779,93 @@ function mission_avoidance(current_loc, target_loc, groundspeed)
avoidance_request.airspeed = groundspeed
else
avoidance_request.airspeed = ahrs:airspeed_estimate()
end -- Get wind estimate and convert to 2D
end
-- Get wind estimate and convert to 2D
local wind_3d = ahrs:wind_estimate()
local wind_2d = Vector2f()
wind_2d:x(wind_3d:x())
wind_2d:y(wind_3d:y())
-- Calculate wind direction and speed
-- Calculate wind direction and speed
avoidance_request.wind_dir_rad = wind_2d:angle()
avoidance_request.wind_speed = wind_2d:length()
-- Record request time
avoidance_request.request_time_ms = now
-- Check if previous result is still valid and matches the current target location
if avoidance_result.target_loc then
--gcs:send_text(0, string.format("lat_tar: .%.2f, res_lat: %.2f", target_loc:lat(), avoidance_result.target_loc:lat()))
if target_loc:lat() == avoidance_result.target_loc:lat() and target_loc:lng() == avoidance_result.target_loc:lng() and (now - avoidance_result.result_time_ms) < 2000 then
-- Update target location with the new avoidance result location
target_loc:lat(avoidance_result.new_target_loc:lat())
target_loc:lng(avoidance_result.new_target_loc:lng())
-- Return whether avoidance is needed based on the result
--gcs:send_text(0, string.format("Up Lat: %.2f, Up lon: %.2f", avoidance_result.new_target_loc:lat(),avoidance_result.new_target_loc:lng()))
return avoidance_result.avoidance_needed
end
else
--gcs:send_text(0, "No calculation performed")
end
-- Return false if no valid avoidance result is available
return false
-- call the main mission avoidance logic
local new_target_loc = update_mission_avoidance(avoidance_request, target_loc)
return new_target_loc
end
function update()
--gcs:send_text(0, "Lua running")
-- Check if the 'avoid' function is available
if avoid == nil then
gcs:send_text(0, "AP_Avoidance singleton not available")
--[[
return true if two locations are identical
--]]
local function locations_equal(loc1, loc2)
return loc1:lat() == loc2:lat() and loc1:lng() == loc2:lng() and loc1:alt() == loc2:alt()
end
local orig_target_loc = nil
local last_updated_target_loc = nil
--[[
update avoidance at UPDATE_RATE_HZ. Calls mission_avoidance() and
updates target location in the vehicle code
--]]
function update_avoidance()
if AVD_ENABLE:get() == 0 then
-- disabled by the user
return
end
current_loc = ahrs:get_position()
target_loc= vehicle:get_target_location()
local current_target
if target_loc ~=nil then
current_target=target_loc:copy()
--gcs:send_text(0, "Update_Current_target")
end
--gcs:send_text(0, string.format("Original pos: Lat: %.2f, Lon: %.2f", target_loc:lat(),target_loc:lng()))
target_loc = vehicle:get_target_location()
if flag==0 and target_loc ~=nil then
current_target_s=target_loc:copy()
if not current_loc or not target_loc then
-- no position or not navigating
orig_target_loc = nil
last_updated_target_loc = nil
return
end
--gcs:send_text(0, string.format("Current_targ Latitude: %.2f, Current_targ longitude: %.2f", current_target:lat(),current_target:lng()))
local groundspeed=ahrs:groundspeed_vector():length()
if not current_loc then
gcs:send_text(0, "Not current position")
return update, 100
if not orig_target_loc or
not last_updated_target_loc or
not locations_equal(last_updated_target_loc, target_loc) then
-- the vehicle navigation code has changed it's target
orig_target_loc = target_loc:copy()
gcs:send_text(MAV_SEVERITY.INFO, "BR: new target loc")
end
local groundspeed = ahrs:groundspeed_vector():length()
-- run avoidance calculation
local new_target_loc = mission_avoidance(current_loc, orig_target_loc, groundspeed)
if new_target_loc then
-- tell the vehicle to fly to the new calculated target
vehicle:update_target_location(target_loc, new_target_loc)
last_updated_target_loc = new_target_loc:copy()
local avoid_dist = orig_target_loc:get_distance(new_target_loc)
gcs:send_named_float("AVD_DIST", avoid_dist)
else
if mission_clear(current_loc, 400, 100, 25)== true then
gcs:send_text(6, "Mission clear")
if target_loc ~=nil then
if target_loc:lng()~=current_target_s:lng() and flag==1 then
vehicle:update_target_location(current_target, current_target_s)
flag=0
gcs:send_text(4, "Returning to path")
end
end
else
if target_loc then
--gcs:send_text(0, "Calculating mission avoidance")
if mission_avoidance(current_loc, target_loc, groundspeed)==true then
--gcs:send_text(0, "Updating target")
--vehicle:set_mode(15)
vehicle:update_target_location(current_target, target_loc)
--vehicle:set_target_location(target_loc)
--gcs:send_text(0, string.format("New pos: Lat: %.2f, Lon: %.2f", target_loc:lat(),target_loc:lng()))
gcs:send_text(4, "Updating target")
flag=1
end
gcs:send_text(0, "Mission not clear")
end
end
-- revert to the original target location, no avoidance needed
vehicle:update_target_location(target_loc, orig_target_loc)
last_updated_target_loc = orig_target_loc
gcs:send_named_float("AVD_DIST", -1)
end
return update, 100
end
return update,100
if avoid == nil then
gcs:send_text(0, "AP_Avoidance singleton not available")
return
end
function update()
update_avoidance()
return update, 1000 / UPDATE_RATE_HZ
end
return update, 100