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AC_WPNav: Support pause

This commit is contained in:
Leonard Hall 2022-01-27 19:07:38 +10:30 committed by Randy Mackay
parent ed11b95281
commit 9e7716273a
2 changed files with 37 additions and 19 deletions
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44
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -197,8 +197,9 @@ void AC_WPNav::wp_and_spline_init(float speed_cms, Vector3f stopping_point)
_this_leg_is_spline = false;
// initialise the terrain velocity to the current maximum velocity
_terrain_vel = _wp_desired_speed_xy_cms;
_terrain_accel = 0.0;
_offset_vel = _wp_desired_speed_xy_cms;
_offset_accel = 0.0;
_paused = false;
// mark as active
_wp_last_update = AP_HAL::millis();
@ -209,8 +210,8 @@ void AC_WPNav::set_speed_xy(float speed_cms)
{
// range check target speed and protect against divide by zero
if (speed_cms >= WPNAV_WP_SPEED_MIN && is_positive(_wp_desired_speed_xy_cms)) {
// update terrain following speed scalar
_terrain_vel = speed_cms * _terrain_vel / _wp_desired_speed_xy_cms;
// update horizontal velocity speed offset scalar
_offset_vel = speed_cms * _offset_vel / _wp_desired_speed_xy_cms;
// initialize the desired wp speed
_wp_desired_speed_xy_cms = speed_cms;
@ -463,14 +464,14 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
// get current position and adjust altitude to origin and destination's frame (i.e. _frame)
const Vector3f &curr_pos = _inav.get_position_neu_cm() - Vector3f{0, 0, terr_offset};
// Use _track_scalar_dt to slow down S-Curve time to prevent target moving too far in front of aircraft
Vector3f curr_target_vel = _pos_control.get_vel_desired_cms();
curr_target_vel.z -= _pos_control.get_vel_offset_z_cms();
// Use _track_scalar_dt to slow down progression of the position target moving too far in front of aircraft
// _track_scalar_dt does not scale the velocity or acceleration
float track_scaler_dt = 1.0f;
// check target velocity is non-zero
if (is_positive(curr_target_vel.length())) {
if (is_positive(curr_target_vel.length_squared())) {
Vector3f track_direction = curr_target_vel.normalized();
const float track_error = _pos_control.get_pos_error_cm().dot(track_direction);
const float track_velocity = _inav.get_velocity_neu_cms().dot(track_direction);
@ -478,13 +479,15 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
track_scaler_dt = constrain_float(0.05f + (track_velocity - _pos_control.get_pos_xy_p().kP() * track_error) / curr_target_vel.length(), 0.1f, 1.0f);
}
float vel_time_scalar = 1.0;
// Use vel_scaler_dt to slow down the trajectory time
// vel_scaler_dt scales the velocity and acceleration to be kinematically constent
float vel_scaler_dt = 1.0;
if (is_positive(_wp_desired_speed_xy_cms)) {
update_vel_accel(_terrain_vel, _terrain_accel, dt, 0.0, 0.0);
shape_vel_accel( _wp_desired_speed_xy_cms * offset_z_scaler, 0.0,
_terrain_vel, _terrain_accel,
-_wp_accel_cmss, _wp_accel_cmss, _pos_control.get_shaping_jerk_xy_cmsss(), dt, true);
vel_time_scalar = _terrain_vel / _wp_desired_speed_xy_cms;
update_vel_accel(_offset_vel, _offset_accel, dt, 0.0, 0.0);
const float vel_input = !_paused ? _wp_desired_speed_xy_cms * offset_z_scaler : 0.0;
shape_vel_accel(vel_input, 0.0, _offset_vel, _offset_accel, -_wp_accel_cmss, _wp_accel_cmss,
_pos_control.get_shaping_jerk_xy_cmsss(), dt, true);
vel_scaler_dt = _offset_vel / _wp_desired_speed_xy_cms;
}
// change s-curve time speed with a time constant of maximum acceleration / maximum jerk
@ -501,16 +504,23 @@ bool AC_WPNav::advance_wp_target_along_track(float dt)
if (!_this_leg_is_spline) {
// update target position, velocity and acceleration
target_pos = _origin;
s_finished = _scurve_this_leg.advance_target_along_track(_scurve_prev_leg, _scurve_next_leg, _wp_radius_cm, _scurve_accel_corner, _flags.fast_waypoint, _track_scalar_dt * vel_time_scalar * dt, target_pos, target_vel, target_accel);
s_finished = _scurve_this_leg.advance_target_along_track(_scurve_prev_leg, _scurve_next_leg, _wp_radius_cm, _scurve_accel_corner, _flags.fast_waypoint, _track_scalar_dt * vel_scaler_dt * dt, target_pos, target_vel, target_accel);
} else {
// splinetarget_vel
target_vel = curr_target_vel;
_spline_this_leg.advance_target_along_track(_track_scalar_dt * vel_time_scalar * dt, target_pos, target_vel);
_spline_this_leg.advance_target_along_track(_track_scalar_dt * vel_scaler_dt * dt, target_pos, target_vel);
s_finished = _spline_this_leg.reached_destination();
}
target_vel *= vel_time_scalar;
target_accel *= sq(vel_time_scalar);
Vector3f accel_offset;
if (is_positive(target_vel.length_squared())) {
Vector3f track_direction = target_vel.normalized();
accel_offset = track_direction * _offset_accel * target_vel.length() / _wp_desired_speed_xy_cms;
}
target_vel *= vel_scaler_dt;
target_accel *= sq(vel_scaler_dt);
target_accel += accel_offset;
// convert final_target.z to altitude above the ekf origin
target_pos.z += _pos_control.get_pos_offset_z_cm();

12
libraries/AC_WPNav/AC_WPNav.h
View File

@ -57,6 +57,13 @@ public:
/// set current target horizontal speed during wp navigation
void set_speed_xy(float speed_cms);
/// set pause or resume during wp navigation
void set_pause() { _paused = true; }
void set_resume() { _paused = false; }
/// get paused status
bool paused() { return _paused; }
/// set current target climb or descent rate during wp navigation
void set_speed_up(float speed_up_cms);
void set_speed_down(float speed_down_cms);
@ -258,8 +265,9 @@ protected:
Vector3f _origin; // starting point of trip to next waypoint in cm from ekf origin
Vector3f _destination; // target destination in cm from ekf origin
float _track_scalar_dt; // time compression multiplier to slow the progress along the track
float _terrain_vel; // maximum horizontal velocity used to ensure the aircraft can maintain height above terrain
float _terrain_accel; // acceleration value used to change _terrain_vel
float _offset_vel; // horizontal velocity reference used to slow the aircraft for pause and to ensure the aircraft can maintain height above terrain
float _offset_accel; // horizontal acceleration reference used to slow the aircraft for pause and to ensure the aircraft can maintain height above terrain
bool _paused; // flag for pausing waypoint controller
// terrain following variables
bool _terrain_alt; // true if origin and destination.z are alt-above-terrain, false if alt-above-ekf-origin