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AC_Avoidance: take into account minimum altitude fence when calculating climb rate

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Andy Piper 2024-01-15 19:35:03 +00:00 committed by Peter Barker
parent 95b39f64e3
commit 8287d4f2d0
1 changed files with 32 additions and 8 deletions
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36
libraries/AC_Avoidance/AC_Avoid.cpp
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@ -379,30 +379,54 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
return; return;
} }
// do not adjust climb_rate if level or descending // do not adjust climb_rate if level
if (climb_rate_cms <= 0.0f) { if (is_zero(climb_rate_cms)) {
return; return;
} }
const AP_AHRS &_ahrs = AP::ahrs();
// limit acceleration // limit acceleration
const float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX); const float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX);
// if descending, adjust for minimum altitude as necessary
if (climb_rate_cms < 0.0f) {
#if AP_FENCE_ENABLED
// calculate distance below fence
AC_Fence *fence = AP::fence();
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0 && fence
&& (fence->get_enabled_fences() & AC_FENCE_TYPE_ALT_MIN) > 0) {
// calculate distance from vehicle to safe altitude
float veh_alt;
_ahrs.get_relative_position_D_home(veh_alt);
// fence.get_safe_alt_min() is UP, veh_alt is DOWN:
const float alt_min = -(fence->get_safe_alt_min() + veh_alt);
if (alt_min <= 0.0f) {
climb_rate_cms = MAX(climb_rate_cms, 0.0f);
// also calculate backup speed that will get us back to safe altitude
backup_speed = get_max_speed(kP, accel_cmss_limited, -alt_min*100.0f, dt);
}
}
#endif
return;
}
bool limit_alt = false; bool limit_alt = false;
float alt_diff = 0.0f; // distance from altitude limit to vehicle in metres (positive means vehicle is below limit) float alt_diff = 0.0f; // distance from altitude limit to vehicle in metres (positive means vehicle is below limit)
const AP_AHRS &_ahrs = AP::ahrs();
#if AP_FENCE_ENABLED #if AP_FENCE_ENABLED
// calculate distance below fence // calculate distance below fence
AC_Fence *fence = AP::fence(); AC_Fence *fence = AP::fence();
if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0 && fence && (fence->get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) > 0) { if ((_enabled & AC_AVOID_STOP_AT_FENCE) > 0 && fence) {
// calculate distance from vehicle to safe altitude // calculate distance from vehicle to safe altitude
float veh_alt; float veh_alt;
_ahrs.get_relative_position_D_home(veh_alt); _ahrs.get_relative_position_D_home(veh_alt);
// _fence.get_safe_alt_max() is UP, veh_alt is DOWN: if ((fence->get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) > 0) {
// fence.get_safe_alt_max() is UP, veh_alt is DOWN:
alt_diff = fence->get_safe_alt_max() + veh_alt; alt_diff = fence->get_safe_alt_max() + veh_alt;
limit_alt = true; limit_alt = true;
} }
}
#endif #endif
// calculate distance to (e.g.) optical flow altitude limit // calculate distance to (e.g.) optical flow altitude limit