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AP_landing: port the rest of plane/landing.cpp

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Tom Pittenger 2016-11-21 16:09:17 -08:00 committed by Tom Pittenger
parent 9a79b79f1e
commit 75e625fd30
2 changed files with 209 additions and 10 deletions
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167
libraries/AP_Landing/AP_Landing.cpp
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@ -19,6 +19,7 @@
#include "AP_Landing.h"
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/AP_HAL.h>
// table of user settable parameters
const AP_Param::GroupInfo AP_Landing::var_info[] = {
@ -110,7 +111,8 @@ bool AP_Landing::jump_to_landing_sequence(void)
itself as that leads to discontinuities close to the landing point,
which can lead to erratic pitch control
*/
Location AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc)
void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm)
{
float total_distance = get_distance(prev_WP_loc, next_WP_loc);
@ -184,7 +186,17 @@ Location AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, cons
location_update(loc, land_bearing_cd*0.01f, land_projection);
loc.alt -= slope * land_projection * 100;
return loc;
// setup the offset_cm for set_target_altitude_proportion()
target_altitude_offset_cm = loc.alt - prev_WP_loc.alt;
// calculate the proportion we are to the target
float land_proportion = location_path_proportion(current_loc, prev_WP_loc, loc);
// now setup the glide slope for landing
set_target_altitude_proportion_fn(loc, 1.0f - land_proportion);
// stay within the range of the start and end locations in altitude
constrain_target_altitude_location_fn(loc, prev_WP_loc);
}
void AP_Landing::check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state)
@ -215,3 +227,154 @@ void AP_Landing::check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder
}
}
}
bool AP_Landing::verify_land(AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
int32_t auto_state_takeoff_altitude_rel_cm, float height, float sink_rate, float wp_proportion, uint32_t last_flying_ms, bool is_armed, bool is_flying, bool rangefinder_state_in_range, bool &throttle_suppressed)
{
// we don't 'verify' landing in the sense that it never completes,
// so we don't verify command completion. Instead we use this to
// adjust final landing parameters
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
throttle_suppressed = false;
complete = false;
pre_flare = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
// see if we have reached abort altitude
if (adjusted_relative_altitude_cm_fn() > auto_state_takeoff_altitude_rel_cm) {
next_WP_loc = current_loc;
mission.stop();
if (restart_landing_sequence()) {
mission.resume();
}
// else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
}
// make sure to return false so it leaves the mission index alone
return false;
}
/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
by the calculated sink rate (if LAND_FLARE_SEC != 0)
3) we have gone past the landing point and don't have
rangefinder data (to prevent us keeping throttle on
after landing if we've had positive baro drift)
*/
// flare check:
// 1) below flare alt/sec requires approach stage check because if sec/alt are set too
// large, and we're on a hard turn to line up for approach, we'll prematurely flare by
// skipping approach phase and the extreme roll limits will make it hard to line up with runway
// 2) passed land point and don't have an accurate AGL
// 3) probably crashed (ensures motor gets turned off)
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= aparm.land_flare_alt);
bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= sink_rate * aparm.land_flare_sec);
bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying);
if ((on_approach_stage && below_flare_alt) ||
(on_approach_stage && below_flare_sec && (wp_proportion > 0.5)) ||
(!rangefinder_state_in_range && wp_proportion >= 1) ||
probably_crashed) {
if (!complete) {
post_stats = true;
if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
} else {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)sink_rate,
(double)ahrs.get_gps().ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
}
complete = true;
update_flight_stage_fn();
}
if (ahrs.get_gps().ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change
// target speeds too early.
aparm.airspeed_cruise_cm.load();
aparm.min_gndspeed_cm.load();
aparm.throttle_cruise.load();
}
} else if (!complete && !pre_flare && aparm.land_pre_flare_airspeed > 0) {
bool reached_pre_flare_alt = aparm.land_pre_flare_alt > 0 && (height <= aparm.land_pre_flare_alt);
bool reached_pre_flare_sec = aparm.land_pre_flare_sec > 0 && (height <= sink_rate * aparm.land_pre_flare_sec);
if (reached_pre_flare_alt || reached_pre_flare_sec) {
pre_flare = true;
update_flight_stage_fn();
}
}
/*
when landing we keep the L1 navigation waypoint 200m ahead. This
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (post_stats && !is_armed) {
post_stats = false;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete_fn();
/*
we return false as a landing mission item never completes
we stay on this waypoint unless the GCS commands us to change
mission item, reset the mission, command a go-around or finish
a land_abort procedure.
*/
return false;
}
void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, float wp_distance, int32_t &target_altitude_offset_cm)
{
// check the rangefinder correction for a large change. When found, recalculate the glide slope. This is done by
// determining the slope from your current location to the land point then following that back up to the approach
// altitude and moving the prev_wp to that location. From there
float correction_delta = fabsf(rangefinder_state.last_stable_correction) - fabsf(rangefinder_state.correction);
if (aparm.land_slope_recalc_shallow_threshold <= 0 ||
fabsf(correction_delta) < aparm.land_slope_recalc_shallow_threshold) {
return;
}
rangefinder_state.last_stable_correction = rangefinder_state.correction;
float corrected_alt_m = (adjusted_altitude_cm_fn() - next_WP_loc.alt)*0.01f - rangefinder_state.correction;
float total_distance_m = get_distance(prev_WP_loc, next_WP_loc);
float top_of_glide_slope_alt_m = total_distance_m * corrected_alt_m / wp_distance;
prev_WP_loc.alt = top_of_glide_slope_alt_m*100 + next_WP_loc.alt;
// re-calculate auto_state.land_slope with updated prev_WP_loc
setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
check_if_need_to_abort(rangefinder_state);
}

52
libraries/AP_Landing/AP_Landing.h
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@ -20,6 +20,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_Navigation/AP_Navigation.h>
/// @class AP_Landing
/// @brief Class managing ArduPlane landing methods
@ -27,19 +28,54 @@ class AP_Landing
{
public:
FUNCTOR_TYPEDEF(set_target_altitude_proportion_fn_t, void, const Location&, float);
set_target_altitude_proportion_fn_t set_target_altitude_proportion_fn;
FUNCTOR_TYPEDEF(constrain_target_altitude_location_fn_t, void, const Location&, const Location&);
constrain_target_altitude_location_fn_t constrain_target_altitude_location_fn;
FUNCTOR_TYPEDEF(adjusted_altitude_cm_fn_t, int32_t);
adjusted_altitude_cm_fn_t adjusted_altitude_cm_fn;
FUNCTOR_TYPEDEF(adjusted_relative_altitude_cm_fn_t, int32_t);
adjusted_relative_altitude_cm_fn_t adjusted_relative_altitude_cm_fn;
FUNCTOR_TYPEDEF(disarm_if_autoland_complete_fn_t, void);
disarm_if_autoland_complete_fn_t disarm_if_autoland_complete_fn;
FUNCTOR_TYPEDEF(update_flight_stage_fn_t, void);
update_flight_stage_fn_t update_flight_stage_fn;
// constructor
AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, const AP_Vehicle::FixedWing &_aparm) :
mission(_mission),
ahrs(_ahrs),
SpdHgt_Controller(_SpdHgt_Controller),
aparm(_aparm) {
AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm,
set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn,
constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn,
adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn,
adjusted_relative_altitude_cm_fn_t _adjusted_relative_altitude_cm_fn,
disarm_if_autoland_complete_fn_t _disarm_if_autoland_complete_fn,
update_flight_stage_fn_t _update_flight_stage_fn):
mission(_mission)
,ahrs(_ahrs)
,SpdHgt_Controller(_SpdHgt_Controller)
,nav_controller(_nav_controller)
,aparm(_aparm)
,set_target_altitude_proportion_fn(_set_target_altitude_proportion_fn)
,constrain_target_altitude_location_fn(_constrain_target_altitude_location_fn)
,adjusted_altitude_cm_fn(_adjusted_altitude_cm_fn)
,adjusted_relative_altitude_cm_fn(_adjusted_relative_altitude_cm_fn)
,disarm_if_autoland_complete_fn(_disarm_if_autoland_complete_fn)
,update_flight_stage_fn(_update_flight_stage_fn) {
AP_Param::setup_object_defaults(this, var_info);
}
bool restart_landing_sequence();
bool jump_to_landing_sequence(void);
bool verify_land(AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc,const Location &current_loc,
int32_t auto_state_takeoff_altitude_rel_cm, float height, float sink_rate, float wp_proportion, uint32_t last_flying_ms, bool is_armed, bool is_flying, bool rangefinder_state_in_range, bool &throttle_suppressed);
Location setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc);
void adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, float wp_distance, int32_t &target_altitude_offset_cm);
void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
static const struct AP_Param::GroupInfo var_info[];
@ -80,7 +116,7 @@ private:
AP_Mission &mission;
AP_AHRS &ahrs;
AP_SpdHgtControl *SpdHgt_Controller;
AP_Navigation *nav_controller;
const AP_Vehicle::FixedWing &aparm;
AP_Vehicle::FixedWing &aparm;
};