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AP_Landing: Add deepstall support

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This commit is contained in:
Michael du Breuil 2017-02-14 12:21:59 -07:00 committed by Andrew Tridgell
parent cf10b7b841
commit 547d06febf
3 changed files with 595 additions and 2 deletions
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138
libraries/AP_Landing/AP_Landing.cpp
View File

@ -138,6 +138,109 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
// @User: Standard
AP_GROUPINFO("TYPE", 14, AP_Landing, type, TYPE_STANDARD_GLIDE_SLOPE),
// @Param: DS_V_FWD
// @DisplayName: Deepstall forward velocity
// @Description: The forward velocity of the aircraft while stalled
// @Range: 0 20
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("DS_V_FWD", 15, AP_Landing, type_deepstall_forward_speed, 1),
// @Param: DS_SLOPE_A
// @DisplayName: Deepstall slope a
// @Description: The a component of distance = a*wind + b
// @User: Advanced
AP_GROUPINFO("DS_SLOPE_A", 16, AP_Landing, type_deepstall_slope_a, 1),
// @Param: DS_SLOPE_B
// @DisplayName: Deepstall slope b
// @Description: The a component of distance = a*wind + b
// @User: Advanced
AP_GROUPINFO("DS_SLOPE_B", 17, AP_Landing, type_deepstall_slope_b, 1),
// @Param: DS_APP_EXT
// @DisplayName: Deepstall approach extension
// @Description: The forward velocity of the aircraft while stalled
// @Range: 10 200
// @Units: meters
// @User: Advanced
AP_GROUPINFO("DS_APP_EXT", 18, AP_Landing, type_deepstall_approach_extension, 50),
// @Param: DS_V_DWN
// @DisplayName: Deepstall veloicty down
// @Description: The downward velocity of the aircraft while stalled
// @Range: 0 20
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("DS_V_DWN", 19, AP_Landing, type_deepstall_down_speed, 2),
// @Param: DS_SLEW_SPD
// @DisplayName: Deepstall slew speed
// @Description: The speed at which the elevator slews to deepstall
// @Range: 0 2
// @Units: seconds
// @User: Advanced
AP_GROUPINFO("DS_SLEW_SPD", 20, AP_Landing, type_deepstall_slew_speed, 0.5),
// @Param: DS_ELEV_PWM
// @DisplayName: Deepstall elevator PWM
// @Description: The PWM value for the elevator at full deflection in deepstall
// @Range: 900 2100
// @Units: PWM
// @User: Advanced
AP_GROUPINFO("DS_ELEV_PWM", 21, AP_Landing, type_deepstall_elevator_pwm, 1500),
// @Param: DS_ARSP_MAX
// @DisplayName: Deepstall enabled airspeed
// @Description: The maximum aispeed where the deepstall steering controller is allowed to have control
// @Range: 5 20
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("DS_ARSP_MAX", 22, AP_Landing, type_deepstall_handoff_airspeed, 15.0),
// @Param: DS_ARSP_MIN
// @DisplayName: Deepstall minimum derating airspeed
// @Description: Deepstall lowest airspeed where the deepstall controller isn't allowed full control
// @Range: 5 20
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("DS_ARSP_MIN", 23, AP_Landing, type_deepstall_handoff_lower_limit_airspeed, 10.0),
// @Param: DS_L1
// @DisplayName: Deepstall L1 period
// @Description: Deepstall L1 navigational controller period
// @Range: 5 50
// @Units: meters
// @User: Advanced
AP_GROUPINFO("DS_L1", 24, AP_Landing, type_deepstall_L1_period, 30.0),
// @Param: DS_L1_I
// @DisplayName: Deepstall L1 I gain
// @Description: Deepstall L1 integratior gain
// @Range: 0 1
// @User: Advanced
AP_GROUPINFO("DS_L1_I", 25, AP_Landing, type_deepstall_L1_i, 0),
// @Param: DS_YAW_LIM
// @DisplayName: Deepstall yaw rate limit
// @Description: The yaw rate limit while navigating in deepstall
// @Range: 0 90
// @Units degrees per second
// @User: Advanced
AP_GROUPINFO("DS_YAW_LIM", 26, AP_Landing, type_deepstall_yaw_rate_limit, 10),
// @Param: DS_L1_TCON
// @DisplayName: Deepstall L1 time constant
// @Description: Time constant for deepstall L1 control
// @Range: 0 1
// @Units seconds
// @User: Advanced
AP_GROUPINFO("DS_L1_TCON", 27, AP_Landing, type_deepstall_time_constant, 0.4),
// @Group: DS_
// @Path: ../PID/PID.cpp
AP_SUBGROUPINFO(type_deepstall_PID, "DS_", 28, AP_Landing, PID),
AP_GROUPEND
};
@ -151,6 +254,9 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_do_land(cmd, relative_altitude);
break;
case TYPE_DEEPSTALL:
type_deepstall_do_land(cmd, relative_altitude);
break;
default:
// a incorrect type is handled in the verify_land
break;
@ -173,6 +279,10 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
success = type_slope_verify_land(prev_WP_loc, next_WP_loc, current_loc,
height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
break;
case TYPE_DEEPSTALL:
success = type_deepstall_verify_land(prev_WP_loc, next_WP_loc, current_loc,
height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
break;
default:
// returning TRUE while executing verify_land() will increment the
// mission index which in many cases will trigger an RTL for end-of-mission
@ -192,6 +302,9 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
break;
case TYPE_DEEPSTALL:
type_deepstall_verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
break;
default:
break;
}
@ -218,12 +331,12 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, wp_distance, target_altitude_offset_cm);
break;
case TYPE_DEEPSTALL:
default:
break;
}
}
// return true while the aircraft should be in a flaring state
bool AP_Landing::is_flaring(void) const
{
if (!flags.in_progress) {
@ -233,6 +346,7 @@ bool AP_Landing::is_flaring(void) const
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_is_flaring();
case TYPE_DEEPSTALL:
default:
return false;
}
@ -252,6 +366,7 @@ bool AP_Landing::is_on_approach(void) const
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_is_on_approach();
case TYPE_DEEPSTALL:
default:
return false;
}
@ -267,6 +382,8 @@ bool AP_Landing::is_ground_steering_allowed(void) const
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_is_on_approach();
case TYPE_DEEPSTALL:
return false;
default:
return true;
}
@ -283,6 +400,7 @@ bool AP_Landing::is_expecting_impact(void) const
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_is_expecting_impact();
case TYPE_DEEPSTALL:
default:
return false;
}
@ -295,6 +413,8 @@ bool AP_Landing::override_servos(void) {
}
switch (type) {
case TYPE_DEEPSTALL:
return type_deepstall_override_servos();
case TYPE_STANDARD_GLIDE_SLOPE:
default:
return false;
@ -306,6 +426,8 @@ bool AP_Landing::override_servos(void) {
const DataFlash_Class::PID_Info* AP_Landing::get_pid_info(void) const
{
switch (type) {
case TYPE_DEEPSTALL:
return &type_deepstall_get_pid_info();
case TYPE_STANDARD_GLIDE_SLOPE:
default:
return nullptr;
@ -327,6 +449,7 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
break;
case TYPE_DEEPSTALL:
default:
break;
}
@ -391,6 +514,7 @@ int32_t AP_Landing::constrain_roll(const int32_t desired_roll_cd, const int32_t
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_constrain_roll(desired_roll_cd, level_roll_limit_cd);
case TYPE_DEEPSTALL:
default:
return desired_roll_cd;
}
@ -404,6 +528,8 @@ bool AP_Landing::get_target_altitude_location(Location &location)
}
switch (type) {
case TYPE_DEEPSTALL:
return type_deepstall_get_target_altitude_location(location);
case TYPE_STANDARD_GLIDE_SLOPE:
default:
return false;
@ -450,6 +576,8 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_get_target_airspeed_cm();
case TYPE_DEEPSTALL:
return type_deepstall_get_target_airspeed_cm();
default:
// don't return the landing airspeed, because if type is invalid we have
// no postive indication that the land airspeed has been configured or
@ -470,6 +598,9 @@ bool AP_Landing::request_go_around(void)
case TYPE_STANDARD_GLIDE_SLOPE:
success = type_slope_request_go_around();
break;
case TYPE_DEEPSTALL:
success = type_deepstall_request_go_around();
break;
default:
break;
}
@ -494,6 +625,8 @@ bool AP_Landing::is_complete(void) const
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_is_complete();
case TYPE_DEEPSTALL:
return false;
default:
return true;
}
@ -505,6 +638,7 @@ void AP_Landing::log(void) const
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_log();
break;
case TYPE_DEEPSTALL:
default:
break;
}
@ -522,6 +656,8 @@ bool AP_Landing::is_throttle_suppressed(void) const
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
return type_slope_is_throttle_suppressed();
case TYPE_DEEPSTALL:
return type_deepstall_is_throttle_suppressed();
default:
return false;
}

70
libraries/AP_Landing/AP_Landing.h
View File

@ -20,6 +20,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_Navigation/AP_Navigation.h>
#include "AP_Landing_Deepstall.h"
/// @class AP_Landing
/// @brief Class managing ArduPlane landing methods
@ -62,7 +63,7 @@ public:
// NOTE: make sure to update is_type_valid()
enum Landing_Type {
TYPE_STANDARD_GLIDE_SLOPE = 0,
// TODO: TYPE_DEEPSTALL,
TYPE_DEEPSTALL = 1,
// TODO: TYPE_PARACHUTE,
// TODO: TYPE_HELICAL,
};
@ -154,6 +155,21 @@ private:
AP_Int8 flap_percent;
AP_Int8 throttle_slewrate;
AP_Int8 type;
AP_Float type_deepstall_forward_speed;
AP_Float type_deepstall_slope_a;
AP_Float type_deepstall_slope_b;
AP_Float type_deepstall_approach_extension;
AP_Float type_deepstall_down_speed;
AP_Float type_deepstall_slew_speed;
AP_Int16 type_deepstall_elevator_pwm;
AP_Float type_deepstall_handoff_airspeed;
AP_Float type_deepstall_handoff_lower_limit_airspeed;
AP_Float type_deepstall_L1_period;
AP_Float type_deepstall_L1_i;
AP_Float type_deepstall_yaw_rate_limit;
AP_Float type_deepstall_time_constant;
static const DataFlash_Class::PID_Info empty_pid;
// Land Type STANDARD GLIDE SLOPE
@ -189,4 +205,56 @@ private:
bool type_slope_is_on_approach(void) const;
bool type_slope_is_expecting_impact(void) const;
bool type_slope_is_throttle_suppressed(void) const;
// Landing type TYPE_DEEPSTALL
//public AP_Landing interface
void type_deepstall_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
void type_deepstall_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed);
bool type_deepstall_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms,
const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
void type_deepstall_setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc,
const Location &current_loc, int32_t &target_altitude_offset_cm);
bool type_deepstall_override_servos(void);
bool type_deepstall_request_go_around(void);
bool type_deepstall_get_target_altitude_location(Location &location);
int32_t type_deepstall_get_target_airspeed_cm(void) const;
bool type_deepstall_is_throttle_suppressed(void) const;
const DataFlash_Class::PID_Info& type_deepstall_get_pid_info(void) const;
//private helpers
void type_deepstall_build_approach_path();
float type_deepstall_predict_travel_distance(const Vector3f wind, const float height) const;
bool type_deepstall_verify_breakout(const Location &current_loc, const Location &target_loc, const float height_error) const;
float type_deepstall_update_steering(void);
// deepstall members
enum deepstall_stage {
DEEPSTALL_STAGE_FLY_TO_LANDING, // fly to the deepstall landing point
DEEPSTALL_STAGE_ESTIMATE_WIND, // loiter until we have a decent estimate of the wind for the target altitude
DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT, // wait until the aircraft is aligned for the optimal breakout
DEEPSTALL_STAGE_FLY_TO_ARC, // fly to the start of the arc
DEEPSTALL_STAGE_ARC, // fly the arc
DEEPSTALL_STAGE_APPROACH, // fly the approach in, and prepare to deepstall when close
DEEPSTALL_STAGE_LAND, // the aircraft will stall torwards the ground while targeting a given point
};
deepstall_stage type_deepstall_stage;
Location type_deepstall_landing_point;
Location type_deepstall_extended_approach;
Location type_deepstall_breakout_location;
Location type_deepstall_arc;
Location type_deepstall_arc_entry;
Location type_deepstall_arc_exit;
float type_deepstall_target_heading_deg; // target heading for the deepstall in degrees
uint32_t type_deepstall_stall_entry_time; // time when the aircrafted enter the stall (in millis)
uint16_t type_deepstall_initial_elevator_pwm; // PWM to start slewing the elevator up from
uint32_t type_deepstall_last_time; // last time the controller ran
float type_deepstall_L1_xtrack_i; // L1 integrator for navigation
PID type_deepstall_PID;
int32_t type_deepstall_last_target_bearing; // used for tracking the progress on loitering
int32_t type_deepstall_loiter_sum_cd; // used for tracking the progress on loitering
#define DEEPSTALL_LOITER_ALT_TOLERANCE 5.0f
};

389
libraries/AP_Landing/AP_Landing_Deepstall.cpp Normal file
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@ -0,0 +1,389 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_Landing_Deepstall.cpp - Landing logic handler for ArduPlane for deepstall landings
*/
#include "AP_Landing.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/AP_HAL.h>
#include <SRV_Channel/SRV_Channel.h>
// if DEBUG_PRINTS is defined statustexts will be sent to the GCS for debug purposes
//#define DEBUG_PRINTS
void AP_Landing::type_deepstall_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{
type_deepstall_stage = DEEPSTALL_STAGE_FLY_TO_LANDING;
type_deepstall_PID.reset_I();
// load the landing point in, the rest of path building is deferred for a better wind estimate
memcpy(&type_deepstall_landing_point, &cmd.content.location, sizeof(Location));
}
// currently identical to the slope aborts
void AP_Landing::type_deepstall_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)
{
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
throttle_suppressed = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
}
/*
update navigation for landing
*/
bool AP_Landing::type_deepstall_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms,
const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range)
{
switch (type_deepstall_stage) {
case DEEPSTALL_STAGE_FLY_TO_LANDING:
if (get_distance(current_loc, type_deepstall_landing_point) > 2 * aparm.loiter_radius) {
nav_controller->update_waypoint(current_loc, type_deepstall_landing_point);
return false;
}
type_deepstall_stage = DEEPSTALL_STAGE_ESTIMATE_WIND;
type_deepstall_loiter_sum_cd = 0; // reset the loiter counter
// no break
case DEEPSTALL_STAGE_ESTIMATE_WIND:
{
nav_controller->update_loiter(type_deepstall_landing_point, aparm.loiter_radius, 1);
if (!nav_controller->reached_loiter_target() || (fabsf(height) > DEEPSTALL_LOITER_ALT_TOLERANCE)) {
// wait until the altitude is correct before considering a breakout
return false;
}
// only count loiter progress when within the target altitude
int32_t target_bearing = nav_controller->target_bearing_cd();
int32_t delta = wrap_180_cd(target_bearing - type_deepstall_last_target_bearing);
if (delta > 0) { // only accumulate turns in the correct direction
type_deepstall_loiter_sum_cd += delta;
}
type_deepstall_last_target_bearing = target_bearing;
if (type_deepstall_loiter_sum_cd < 36000) {
// wait until we've done at least one complete loiter at the correct altitude
nav_controller->update_loiter(type_deepstall_landing_point, aparm.loiter_radius, 1);
return false;
}
type_deepstall_stage = DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT;
//compute optimal path for landing
type_deepstall_build_approach_path();
// no break
}
case DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT:
if (!type_deepstall_verify_breakout(current_loc, type_deepstall_arc_entry, height)) {
nav_controller->update_loiter(type_deepstall_landing_point, aparm.loiter_radius, 1);
return false;
}
type_deepstall_stage = DEEPSTALL_STAGE_FLY_TO_ARC;
memcpy(&type_deepstall_breakout_location, &current_loc, sizeof(Location));
// no break
case DEEPSTALL_STAGE_FLY_TO_ARC:
if (get_distance(current_loc, type_deepstall_arc_entry) > 2 * aparm.loiter_radius) {
nav_controller->update_waypoint(type_deepstall_breakout_location, type_deepstall_arc_entry);
return false;
}
type_deepstall_stage = DEEPSTALL_STAGE_ARC;
// no break
case DEEPSTALL_STAGE_ARC:
{
Vector2f groundspeed = ahrs.groundspeed_vector();
if (!nav_controller->reached_loiter_target() ||
(fabsf(wrap_180(type_deepstall_target_heading_deg -
degrees(atan2f(-groundspeed.y, -groundspeed.x) + M_PI))) >= 10.0f)) {
nav_controller->update_loiter(type_deepstall_arc, aparm.loiter_radius, 1);
return false;
}
type_deepstall_stage = DEEPSTALL_STAGE_APPROACH;
}
// no break
case DEEPSTALL_STAGE_APPROACH:
{
Location entry_point;
nav_controller->update_waypoint(type_deepstall_arc_exit, type_deepstall_extended_approach);
float relative_alt_D;
ahrs.get_relative_position_D_home(relative_alt_D);
const float travel_distance = type_deepstall_predict_travel_distance(ahrs.wind_estimate(), -relative_alt_D);
memcpy(&entry_point, &type_deepstall_landing_point, sizeof(Location));
location_update(entry_point, type_deepstall_target_heading_deg + 180.0, travel_distance);
if (!location_passed_point(current_loc, type_deepstall_arc_exit, entry_point)) {
if (location_passed_point(current_loc, type_deepstall_arc_exit, type_deepstall_extended_approach)) {
// this should never happen, but prevent against an indefinite fly away
type_deepstall_stage = DEEPSTALL_STAGE_FLY_TO_LANDING;
}
return false;
}
type_deepstall_stage = DEEPSTALL_STAGE_LAND;
type_deepstall_stall_entry_time = AP_HAL::millis();
const SRV_Channel* elevator = SRV_Channels::get_channel_for(SRV_Channel::k_elevator);
if (elevator != nullptr) {
// take the last used elevator angle as the starting deflection
// don't worry about bailing here if the elevator channel can't be found
// that will be handled within override_servos
type_deepstall_initial_elevator_pwm = elevator->get_output_pwm();
}
type_deepstall_L1_xtrack_i = 0; // reset the integrators
}
// no break
case DEEPSTALL_STAGE_LAND:
// while in deepstall the only thing verify needs to keep the extended approach point sufficently far away
nav_controller->update_waypoint(current_loc, type_deepstall_extended_approach);
return false;
default:
return true;
}
}
bool AP_Landing::type_deepstall_override_servos(void)
{
if (!(type_deepstall_stage == DEEPSTALL_STAGE_LAND)) {
return false;
}
SRV_Channel* elevator = SRV_Channels::get_channel_for(SRV_Channel::k_elevator);
if (elevator == nullptr) {
// deepstalls are impossible without these channels, abort the process
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL,
"Deepstall: Unable to find the elevator channels");
type_deepstall_request_go_around();
return false;
}
// calculate the progress on slewing the elevator
float slew_progress = 1.0f;
if (type_deepstall_slew_speed > 0) {
slew_progress = (AP_HAL::millis() - type_deepstall_stall_entry_time) / (100.0f * type_deepstall_slew_speed);
slew_progress = constrain_float (slew_progress, 0.0f, 1.0f);
}
// mix the elevator to the correct value
elevator->set_output_pwm(linear_interpolate(type_deepstall_initial_elevator_pwm, type_deepstall_elevator_pwm,
slew_progress, 0.0f, 1.0f));
// use the current airspeed to dictate the travel limits
float airspeed;
ahrs.airspeed_estimate(&airspeed);
// only allow the deepstall steering controller to run below the handoff airspeed
if (slew_progress >= 1.0f || airspeed <= type_deepstall_handoff_airspeed) {
// run the steering conntroller
float pid = type_deepstall_update_steering();
float travel_limit = constrain_float((type_deepstall_handoff_airspeed - airspeed) /
(type_deepstall_handoff_airspeed - type_deepstall_handoff_lower_limit_airspeed) *
0.5f + 0.5f,
0.5f, 1.0f);
float output = constrain_float(pid, -travel_limit, travel_limit);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, output*4500);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input, output*4500);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, output*4500);
} else {
// allow the normal servo control of the channel
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron_with_input,
SRV_Channels::get_output_scaled(SRV_Channel::k_aileron));
}
// hand off rudder control to deepstall controlled
return true;
}
bool AP_Landing::type_deepstall_request_go_around(void)
{
flags.commanded_go_around = true;
return true;
}
bool AP_Landing::type_deepstall_is_throttle_suppressed(void) const
{
return type_deepstall_stage == DEEPSTALL_STAGE_LAND;
}
bool AP_Landing::type_deepstall_get_target_altitude_location(Location &location)
{
memcpy(&location, &type_deepstall_landing_point, sizeof(Location));
return true;
}
int32_t AP_Landing::type_deepstall_get_target_airspeed_cm(void) const
{
if (type_deepstall_stage == DEEPSTALL_STAGE_APPROACH ||
type_deepstall_stage == DEEPSTALL_STAGE_LAND) {
return pre_flare_airspeed * 100;
} else {
return aparm.airspeed_cruise_cm;
}
}
const DataFlash_Class::PID_Info& AP_Landing::type_deepstall_get_pid_info(void) const
{
return type_deepstall_PID.get_pid_info();
}
void AP_Landing::type_deepstall_build_approach_path(void)
{
Vector3f wind = ahrs.wind_estimate();
// TODO: Support a user defined approach heading
type_deepstall_target_heading_deg = (degrees(atan2f(-wind.y, -wind.x)));
memcpy(&type_deepstall_extended_approach, &type_deepstall_landing_point, sizeof(Location));
memcpy(&type_deepstall_arc_exit, &type_deepstall_landing_point, sizeof(Location));
//extend the approach point to 1km away so that there is always a navigational target
location_update(type_deepstall_extended_approach, type_deepstall_target_heading_deg, 1000.0);
float expected_travel_distance = type_deepstall_predict_travel_distance(wind, type_deepstall_landing_point.alt / 100);
float approach_extension = expected_travel_distance + type_deepstall_approach_extension;
// an approach extension of 0 can result in a divide by 0
if (fabsf(approach_extension) < 1.0f) {
approach_extension = 1.0f;
}
location_update(type_deepstall_arc_exit, type_deepstall_target_heading_deg + 180, approach_extension);
memcpy(&type_deepstall_arc, &type_deepstall_arc_exit, sizeof(Location));
memcpy(&type_deepstall_arc_entry, &type_deepstall_arc_exit, sizeof(Location));
// TODO: Support loitering on either side of the approach path
location_update(type_deepstall_arc, type_deepstall_target_heading_deg + 90.0, aparm.loiter_radius);
location_update(type_deepstall_arc_entry, type_deepstall_target_heading_deg + 90.0, aparm.loiter_radius * 2);
#ifdef DEBUG_PRINTS
// TODO: Send this information via a MAVLink packet
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
(double)(type_deepstall_arc.lat / 1e7),(double)( type_deepstall_arc.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
(double)(type_deepstall_arc_entry.lat / 1e7), (double)(type_deepstall_arc_entry.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
(double)(type_deepstall_arc_exit.lat / 1e7), (double)(type_deepstall_arc_exit.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
(double)(type_deepstall_extended_approach.lat / 1e7), (double)(type_deepstall_extended_approach.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension,
(double)expected_travel_distance);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)type_deepstall_target_heading_deg);
#endif // DEBUG_PRINTS
}
float AP_Landing::type_deepstall_predict_travel_distance(const Vector3f wind, const float height) const
{
bool reverse = false;
float course = radians(type_deepstall_target_heading_deg);
// a forward speed of 0 will result in a divide by 0
float forward_speed = MAX(type_deepstall_forward_speed, 0.1f);
Vector2f wind_vec(wind.x, wind.y); // work with the 2D component of wind
float wind_length = MAX(wind_vec.length(), 0.05f); // always assume a slight wind to avoid divide by 0
Vector2f course_vec(cosf(course), sinf(course));
float offset = course + atan2f(-wind.y, -wind.x) + M_PI;
// estimator for how far the aircraft will travel while entering the stall
float stall_distance = type_deepstall_slope_a * wind_length * cosf(offset) + type_deepstall_slope_b;
float theta = acosf(constrain_float((wind_vec * course_vec) / wind_length, -1.0f, 1.0f));
if ((course_vec % wind_vec) > 0) {
reverse = true;
theta *= -1;
}
float cross_component = sinf(theta) * wind_length;
float estimated_crab_angle = asinf(constrain_float(cross_component / forward_speed, -1.0f, 1.0f));
if (reverse) {
estimated_crab_angle *= -1;
}
float estimated_forward = cosf(estimated_crab_angle) * forward_speed + cosf(theta) * wind_length;
#ifdef DEBUG_PRINTS
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Predict: %f %f", stall_distance, estimated_forward * height / type_deepstall_down_speed + stall_distance);
#endif // DEBUG_PRINTS
return estimated_forward * height / type_deepstall_down_speed + stall_distance;
}
bool AP_Landing::type_deepstall_verify_breakout(const Location &current_loc, const Location &target_loc,
const float height_error) const
{
Vector2f location_delta = location_diff(current_loc, target_loc);
const float heading_error = degrees(ahrs.groundspeed_vector().angle(location_delta));
// Check to see if the the plane is heading toward the land waypoint. We use 20 degrees (+/-10 deg)
// of margin so that the altitude to be within 5 meters of desired
if (heading_error <= 10.0 && fabsf(height_error) < DEEPSTALL_LOITER_ALT_TOLERANCE) {
// Want to head in a straight line from _here_ to the next waypoint instead of center of loiter wp
return true;
}
return false;
}
float AP_Landing::type_deepstall_update_steering()
{
Location current_loc;
if (!ahrs.get_position(current_loc)) {
// panic if no position source is available
// continue the deepstall. but target just holding the wings held level as deepstall should be a minimal energy
// configuration on the aircraft, and if a position isn't available aborting would be worse
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Deepstall: No position available. Attempting to hold level");
memcpy(&current_loc, &type_deepstall_landing_point, sizeof(Location));
}
uint32_t time = AP_HAL::millis();
float dt = constrain_float(time - type_deepstall_last_time, (uint32_t)10UL, (uint32_t)200UL) / 1000.0;
type_deepstall_last_time = time;
Vector2f ab = location_diff(type_deepstall_arc_exit, type_deepstall_extended_approach);
ab.normalize();
Vector2f a_air = location_diff(type_deepstall_arc_exit, current_loc);
float crosstrack_error = a_air % ab;
float sine_nu1 = constrain_float(crosstrack_error / MAX(type_deepstall_L1_period, 0.1f), -0.7071f, 0.7107f);
float nu1 = asinf(sine_nu1);
if (type_deepstall_L1_i > 0) {
type_deepstall_L1_xtrack_i += nu1 * type_deepstall_L1_i / dt;
type_deepstall_L1_xtrack_i = constrain_float(type_deepstall_L1_xtrack_i, -0.5f, 0.5f);
nu1 += type_deepstall_L1_xtrack_i;
}
float desired_change = wrap_PI(radians(type_deepstall_target_heading_deg) + nu1 - ahrs.yaw);
float yaw_rate = ahrs.get_gyro().z;
float yaw_rate_limit = radians(type_deepstall_yaw_rate_limit);
float error = wrap_PI(constrain_float(desired_change / type_deepstall_time_constant,
-yaw_rate_limit, yaw_rate_limit) - yaw_rate);
#ifdef DEBUG_PRINTS
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "x: %f e: %f r: %f d: %f",
(double)crosstrack_error,
(double)error,
(double)degrees(yaw_rate),
(double)location_diff(current_loc, type_deepstall_landing_point).length());
#endif // DEBUG_PRINTS
return type_deepstall_PID.get_pid(error);
}