AC_WPNav: integrate OAPathPlanner

includes these changse:
get_wp_distance_to_destination always uses oa unadjusted destination
get_wp_bearing_to_destination always uses oa unadjusted destination
stop vehicle if object avoidance fails
OA adjusted altitude interpolated from original track
This commit is contained in:
Randy Mackay 2019-06-05 21:05:20 +09:00
parent 6361a9a204
commit aeb98c7555
3 changed files with 182 additions and 5 deletions

View File

@ -106,6 +106,10 @@ public:
// coordinates
bool get_wp_destination(Location& destination) const;
// returns object avoidance adjusted destination which is always the same as get_wp_destination
// having this function unifies the AC_WPNav_OA and AC_WPNav interfaces making vehicle code simpler
virtual bool get_oa_wp_destination(Location& destination) const { return get_wp_destination(destination); }
/// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
/// terrain_alt should be true if destination.z is a desired altitude above terrain
bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false);
@ -116,7 +120,7 @@ public:
/// set_wp_origin_and_destination - set origin and destination waypoints using position vectors (distance from ekf origin in cm)
/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
/// returns false on failure (likely caused by missing terrain data)
bool set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt = false);
virtual bool set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt = false);
/// shift_wp_origin_to_current_pos - shifts the origin and destination so the origin starts at the current position
/// used to reset the position just before takeoff
@ -129,13 +133,13 @@ public:
void get_wp_stopping_point(Vector3f& stopping_point) const;
/// get_wp_distance_to_destination - get horizontal distance to destination in cm
float get_wp_distance_to_destination() const;
virtual float get_wp_distance_to_destination() const;
/// get_bearing_to_destination - get bearing to next waypoint in centi-degrees
int32_t get_wp_bearing_to_destination() const;
virtual int32_t get_wp_bearing_to_destination() const;
/// reached_destination - true when we have come within RADIUS cm of the waypoint
bool reached_wp_destination() const { return _flags.reached_destination; }
virtual bool reached_wp_destination() const { return _flags.reached_destination; }
// reached_wp_destination_xy - true if within RADIUS_CM of waypoint in x/y
bool reached_wp_destination_xy() const {
@ -146,7 +150,7 @@ public:
void set_fast_waypoint(bool fast) { _flags.fast_waypoint = fast; }
/// update_wpnav - run the wp controller - should be called at 100hz or higher
bool update_wpnav();
virtual bool update_wpnav();
// check_wp_leash_length - check recalc_wp_leash flag and calls calculate_wp_leash_length() if necessary
// should be called after _pos_control.update_xy_controller which may have changed the position controller leash lengths

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@ -0,0 +1,130 @@
#include "AC_WPNav_OA.h"
AC_WPNav_OA::AC_WPNav_OA(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control) :
AC_WPNav(inav, ahrs, pos_control, attitude_control)
{
}
// returns object avoidance adjusted wp location using location class
// returns false if unable to convert from target vector to global coordinates
bool AC_WPNav_OA::get_oa_wp_destination(Location& destination) const
{
// if oa inactive return unadjusted location
if (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) {
return get_wp_destination(destination);
}
// return latest destination provided by oa path planner
destination = _oa_destination;
return true;
}
/// set_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
/// returns false on failure (likely caused by missing terrain data)
bool AC_WPNav_OA::set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt)
{
const bool ret = AC_WPNav::set_wp_origin_and_destination(origin, destination, terrain_alt);
if (ret) {
// reset object avoidance state
_oa_state = AP_OAPathPlanner::OA_NOT_REQUIRED;
}
return ret;
}
/// get_wp_distance_to_destination - get horizontal distance to destination in cm
/// always returns distance to final destination (i.e. does not use oa adjusted destination)
float AC_WPNav_OA::get_wp_distance_to_destination() const
{
if (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) {
return AC_WPNav::get_wp_distance_to_destination();
}
// get current location
const Vector3f &curr = _inav.get_position();
return norm(_destination_oabak.x-curr.x, _destination_oabak.y-curr.y);
}
/// get_wp_bearing_to_destination - get bearing to next waypoint in centi-degrees
/// always returns bearing to final destination (i.e. does not use oa adjusted destination)
int32_t AC_WPNav_OA::get_wp_bearing_to_destination() const
{
if (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) {
return AC_WPNav::get_wp_bearing_to_destination();
}
return get_bearing_cd(_inav.get_position(), _destination_oabak);
}
/// true when we have come within RADIUS cm of the waypoint
bool AC_WPNav_OA::reached_wp_destination() const
{
return (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) && AC_WPNav::reached_wp_destination();
}
/// update_wpnav - run the wp controller - should be called at 100hz or higher
bool AC_WPNav_OA::update_wpnav()
{
// run path planning around obstacles
AP_OAPathPlanner *oa_ptr = AP_OAPathPlanner::get_singleton();
Location current_loc;
if ((oa_ptr != nullptr) && AP::ahrs().get_position(current_loc)) {
// backup _origin and _destination when not doing oa
if (_oa_state == AP_OAPathPlanner::OA_NOT_REQUIRED) {
_origin_oabak = _origin;
_destination_oabak = _destination;
}
// convert origin and destination to Locations and pass into oa
const Location origin_loc(_origin_oabak);
const Location destination_loc(_destination_oabak);
Location oa_origin_new, oa_destination_new;
const AP_OAPathPlanner::OA_RetState oa_retstate = oa_ptr->mission_avoidance(current_loc, origin_loc, destination_loc, oa_origin_new, oa_destination_new);
switch (oa_retstate) {
case AP_OAPathPlanner::OA_NOT_REQUIRED:
if (_oa_state != oa_retstate) {
// object avoidance has become inactive so reset target to original destination
set_wp_destination(_destination_oabak, _terrain_alt);
_oa_state = oa_retstate;
}
break;
case AP_OAPathPlanner::OA_PROCESSING:
case AP_OAPathPlanner::OA_ERROR:
// during processing or in case of error stop the vehicle
// by setting the oa_destination to a stopping point
if ((_oa_state != AP_OAPathPlanner::OA_PROCESSING) && (_oa_state != AP_OAPathPlanner::OA_ERROR)) {
// calculate stopping point
Vector3f stopping_point;
get_wp_stopping_point(stopping_point);
_oa_destination = Location(stopping_point);
if (set_wp_destination(stopping_point, false)) {
_oa_state = oa_retstate;
}
}
break;
case AP_OAPathPlanner::OA_SUCCESS:
// if oa destination has become active or destination has changed update wpnav
if ((_oa_state != AP_OAPathPlanner::OA_SUCCESS) || !oa_destination_new.same_latlon_as(_oa_destination)) {
_oa_destination = oa_destination_new;
// convert Location to offset from EKF origin
Vector3f dest_NEU;
if (_oa_destination.get_vector_from_origin_NEU(dest_NEU)) {
// calculate target altitude by calculating OA adjusted destination's distance along the original track
// and then linear interpolate using the original track's origin and destination altitude
const float dist_along_path = constrain_float(oa_destination_new.line_path_proportion(origin_loc, destination_loc), 0.0f, 1.0f);
dest_NEU.z = linear_interpolate(_origin_oabak.z, _destination_oabak.z, dist_along_path, 0.0f, 1.0f);
if (set_wp_destination(dest_NEU, _terrain_alt)) {
_oa_state = oa_retstate;
}
}
}
break;
}
}
// run the non-OA update
return AC_WPNav::update_wpnav();
}

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@ -0,0 +1,43 @@
#pragma once
#include <AC_WPNav/AC_WPNav.h>
#include <AC_Avoidance/AP_OAPathPlanner.h>
class AC_WPNav_OA : public AC_WPNav
{
public:
/// Constructor
AC_WPNav_OA(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control, const AC_AttitudeControl& attitude_control);
// returns object avoidance adjusted wp location using location class
// returns false if unable to convert from target vector to global coordinates
bool get_oa_wp_destination(Location& destination) const override;
/// set origin and destination waypoints using position vectors (distance from ekf origin in cm)
/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
/// returns false on failure (likely caused by missing terrain data)
bool set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt = false) override;
/// get horizontal distance to destination in cm
/// always returns distance to final destination (i.e. does not use oa adjusted destination)
float get_wp_distance_to_destination() const override;
/// get bearing to next waypoint in centi-degrees
/// always returns bearing to final destination (i.e. does not use oa adjusted destination)
int32_t get_wp_bearing_to_destination() const override;
/// true when we have come within RADIUS cm of the final destination
bool reached_wp_destination() const override;
/// run the wp controller
bool update_wpnav() override;
protected:
// oa path planning variables
AP_OAPathPlanner::OA_RetState _oa_state; // state of object avoidance, if OA_SUCCESS we use _oa_destination to avoid obstacles
Vector3f _origin_oabak; // backup of _origin so it can be restored when oa completes
Vector3f _destination_oabak; // backup of _destination so it can be restored when oa completes
Location _oa_destination; // intermediate destination during avoidance
};