mirror of https://github.com/ArduPilot/ardupilot
WPNav: add acceleration parameter
WP_ACCEL added to allow user control of acceleration during missions. Loiter acceleration made to be half of loiter max speed
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Randy Mackay
parent
069d93444f
commit
7c5d96385e
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@ -10,7 +10,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
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// @Param: SPEED
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// @DisplayName: Waypoint Horizontal Speed Target
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// @Description: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission
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// @Units: Centimeters/Second
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// @Units: cm/s
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// @Range: 0 2000
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// @Increment: 50
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// @User: Standard
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@ -19,7 +19,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
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// @Param: RADIUS
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// @DisplayName: Waypoint Radius
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// @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
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// @Units: Centimeters
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// @Units: cm
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// @Range: 100 1000
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// @Increment: 1
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// @User: Standard
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@ -28,7 +28,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
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// @Param: SPEED_UP
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// @DisplayName: Waypoint Climb Speed Target
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// @Description: Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission
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// @Units: Centimeters/Second
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// @Units: cm/s
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// @Range: 0 1000
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// @Increment: 50
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// @User: Standard
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@ -37,7 +37,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
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// @Param: SPEED_DN
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// @DisplayName: Waypoint Descent Speed Target
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// @Description: Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission
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// @Units: Centimeters/Second
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// @Units: cm/s
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// @Range: 0 1000
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// @Increment: 50
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// @User: Standard
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@ -46,12 +46,21 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
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// @Param: LOIT_SPEED
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// @DisplayName: Loiter Horizontal Maximum Speed
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// @Description: Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
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// @Units: Centimeters/Second
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// @Units: cm/s
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// @Range: 0 2000
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// @Increment: 50
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// @User: Standard
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AP_GROUPINFO("LOIT_SPEED", 4, AC_WPNav, _loiter_speed_cms, WPNAV_LOITER_SPEED),
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// @Param: ACCEL
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// @DisplayName: Waypoint Acceleration
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// @Description: Defines the horizontal acceleration in cm/s/s used during missions
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// @Units: cm/s/s
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// @Range: 0 980
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// @Increment: 10
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// @User: Standard
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AP_GROUPINFO("ACCEL", 5, AC_WPNav, _wp_accel_cms, WPNAV_ACCELERATION),
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AP_GROUPEND
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};
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@ -81,6 +90,7 @@ AC_WPNav::AC_WPNav(AP_InertialNav* inav, AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM
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_vel_last(0,0,0),
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_lean_angle_max(MAX_LEAN_ANGLE),
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_loiter_leash(WPNAV_MIN_LEASH_LENGTH),
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_loiter_accel_cms(WPNAV_LOITER_ACCEL_MAX),
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_wp_leash_xy(WPNAV_MIN_LEASH_LENGTH),
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_wp_leash_z(WPNAV_MIN_LEASH_LENGTH),
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_track_accel(0),
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@ -112,23 +122,23 @@ void AC_WPNav::get_stopping_point(const Vector3f& position, const Vector3f& velo
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// calculate current velocity
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vel_total = safe_sqrt(velocity.x*velocity.x + velocity.y*velocity.y);
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// avoid divide by zero by using current position if the velocity is below 10cm/s or kP is very low
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if (vel_total < 10.0f || kP <= 0.0f) {
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// avoid divide by zero by using current position if the velocity is below 10cm/s, kP is very low or acceleration is zero
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if (vel_total < 10.0f || kP <= 0.0f || _wp_accel_cms <= 0.0f) {
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target = position;
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return;
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}
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// calculate point at which velocity switches from linear to sqrt
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linear_velocity = WPNAV_ACCELERATION/kP;
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linear_velocity = _wp_accel_cms/kP;
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// calculate distance within which we can stop
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if (vel_total < linear_velocity) {
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target_dist = vel_total/kP;
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} else {
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linear_distance = WPNAV_ACCELERATION/(2*kP*kP);
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target_dist = linear_distance + (vel_total*vel_total)/(2*WPNAV_ACCELERATION);
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linear_distance = _wp_accel_cms/(2.0f*kP*kP);
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target_dist = linear_distance + (vel_total*vel_total)/(2.0f*_wp_accel_cms);
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}
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target_dist = constrain_float(target_dist, 0, _loiter_leash*2.0);
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target_dist = constrain_float(target_dist, 0, _loiter_leash*2.0f);
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target.x = position.x + (target_dist * velocity.x / vel_total);
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target.y = position.y + (target_dist * velocity.y / vel_total);
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@ -161,6 +171,7 @@ void AC_WPNav::init_loiter_target(const Vector3f& position, const Vector3f& velo
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_pilot_vel_right_cms = 0;
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// set last velocity to current velocity
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// To-Do: remove the line below by instead forcing reset_I to be called on the first loiter_update call
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_vel_last = _inav->get_velocity();
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}
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@ -270,24 +281,28 @@ void AC_WPNav::calculate_loiter_leash_length()
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float kP = _pid_pos_lat->kP();
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// avoid divide by zero
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if (kP <= 0.0f) {
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if (kP <= 0.0f || _wp_accel_cms <= 0.0f) {
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_loiter_leash = WPNAV_MIN_LEASH_LENGTH;
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_loiter_accel_cms = _loiter_leash / 2.0f; // set loiter acceleration to 1/2 loiter speed
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return;
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}
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// calculate horiztonal leash length
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if(_loiter_speed_cms <= WPNAV_ACCELERATION / kP) {
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if(_loiter_speed_cms <= _wp_accel_cms / kP) {
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// linear leash length based on speed close in
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_loiter_leash = _loiter_speed_cms / kP;
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}else{
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// leash length grows at sqrt of speed further out
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_loiter_leash = (WPNAV_ACCELERATION / (2.0*kP*kP)) + (_loiter_speed_cms*_loiter_speed_cms / (2*WPNAV_ACCELERATION));
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_loiter_leash = (_wp_accel_cms / (2.0f*kP*kP)) + (_loiter_speed_cms*_loiter_speed_cms / (2.0f*_wp_accel_cms));
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}
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// ensure leash is at least 1m long
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if( _loiter_leash < WPNAV_MIN_LEASH_LENGTH ) {
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_loiter_leash = WPNAV_MIN_LEASH_LENGTH;
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}
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// set loiter acceleration to 1/2 loiter speed
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_loiter_accel_cms = _loiter_leash / 2.0f;
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}
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///
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@ -511,12 +526,12 @@ void AC_WPNav::get_loiter_position_to_velocity(float dt, float max_speed_cms)
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dist_error.x = _target.x - curr.x;
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dist_error.y = _target.y - curr.y;
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linear_distance = WPNAV_ACCELERATION/(2*kP*kP);
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linear_distance = _wp_accel_cms/(2.0f*kP*kP);
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_distance_to_target = linear_distance; // for reporting purposes
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dist_error_total = safe_sqrt(dist_error.x*dist_error.x + dist_error.y*dist_error.y);
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if( dist_error_total > 2*linear_distance ) {
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vel_sqrt = safe_sqrt(2*WPNAV_ACCELERATION*(dist_error_total-linear_distance));
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if( dist_error_total > 2.0f*linear_distance ) {
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vel_sqrt = safe_sqrt(2.0f*_wp_accel_cms*(dist_error_total-linear_distance));
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desired_vel.x = vel_sqrt * dist_error.x/dist_error_total;
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desired_vel.y = vel_sqrt * dist_error.y/dist_error_total;
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}else{
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@ -630,18 +645,23 @@ void AC_WPNav::calculate_wp_leash_length(bool climb)
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// get loiter position P
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float kP = _pid_pos_lat->kP();
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// sanity check acceleration and avoid divide by zero
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if (_wp_accel_cms <= 0.0f) {
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_wp_accel_cms = WPNAV_ACCELERATION_MIN;
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}
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// avoid divide by zero
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if (kP <= 0.0f) {
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_wp_leash_xy = WPNAV_MIN_LEASH_LENGTH;
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return;
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}
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// calculate horiztonal leash length
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if(_wp_speed_cms <= WPNAV_ACCELERATION / kP) {
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if(_wp_speed_cms <= _wp_accel_cms / kP) {
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// linear leash length based on speed close in
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_wp_leash_xy = _wp_speed_cms / kP;
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}else{
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// leash length grows at sqrt of speed further out
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_wp_leash_xy = (WPNAV_ACCELERATION / (2.0*kP*kP)) + (_wp_speed_cms*_wp_speed_cms / (2*WPNAV_ACCELERATION));
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_wp_leash_xy = (_wp_accel_cms / (2.0f*kP*kP)) + (_wp_speed_cms*_wp_speed_cms / (2.0f*_wp_accel_cms));
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}
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// ensure leash is at least 1m long
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@ -679,7 +699,7 @@ void AC_WPNav::calculate_wp_leash_length(bool climb)
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_track_speed = 0;
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_track_leash_length = WPNAV_MIN_LEASH_LENGTH;
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}else if(_pos_delta_unit.z == 0){
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_track_accel = WPNAV_ACCELERATION/pos_delta_unit_xy;
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_track_accel = _wp_accel_cms/pos_delta_unit_xy;
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_track_speed = _wp_speed_cms/pos_delta_unit_xy;
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_track_leash_length = _wp_leash_xy/pos_delta_unit_xy;
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}else if(pos_delta_unit_xy == 0){
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@ -687,7 +707,7 @@ void AC_WPNav::calculate_wp_leash_length(bool climb)
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_track_speed = speed_vert/pos_delta_unit_z;
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_track_leash_length = _wp_leash_z/pos_delta_unit_z;
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}else{
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_track_accel = min(WPNAV_ALT_HOLD_ACCEL_MAX/pos_delta_unit_z, WPNAV_ACCELERATION/pos_delta_unit_xy);
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_track_accel = min(WPNAV_ALT_HOLD_ACCEL_MAX/pos_delta_unit_z, _wp_accel_cms/pos_delta_unit_xy);
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_track_speed = min(speed_vert/pos_delta_unit_z, _wp_speed_cms/pos_delta_unit_xy);
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_track_leash_length = min(_wp_leash_z/pos_delta_unit_z, _wp_leash_xy/pos_delta_unit_xy);
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}
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@ -11,7 +11,8 @@
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#include <AP_InertialNav.h> // Inertial Navigation library
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// loiter maximum velocities and accelerations
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#define WPNAV_ACCELERATION 250.0f // defines the velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
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#define WPNAV_ACCELERATION 250.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
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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_ACCEL_MAX 980.0f // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
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// should be 1.5 times larger than WPNAV_ACCELERATION.
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// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
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@ -200,6 +201,7 @@ protected:
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AP_Float _wp_speed_up_cms; // climb speed target in cm/s
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AP_Float _wp_speed_down_cms; // descent speed target in cm/s
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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_cms; // acceleration in cm/s/s during missions
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uint32_t _loiter_last_update; // time of last update_loiter call
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uint32_t _wpnav_last_update; // time of last update_wpnav call
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float _cos_yaw; // short-cut to save on calcs required to convert roll-pitch frame to lat-lon frame
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@ -219,6 +221,7 @@ protected:
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Vector3f _vel_last; // previous iterations velocity in cm/s
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int32_t _lean_angle_max; // maximum lean angle. can be set from main code so that throttle controller can stop leans that cause copter to lose altitude
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float _loiter_leash; // loiter's horizontal leash length in cm. used to stop the pilot from pushing the target location too far from the current location
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float _loiter_accel_cms; // loiter's acceleration in cm/s/s
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// waypoint controller internal variables
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Vector3f _origin; // starting point of trip to next waypoint in cm from home (equivalent to next_WP)
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