AR_WPNav: add set_nudge_speed_max

allows pilot to override speed_max from RC input

libraries/AR_WPNav/AR_WPNav.cpp

@@ -27,6 +27,7 @@ extern const AP_HAL::HAL& hal;
 #define AR_WPNAV_TIMEOUT_MS             100
 #define AR_WPNAV_SPEED_DEFAULT          2.0f
 #define AR_WPNAV_SPEED_MIN              0.05f   // minimum speed between waypoints in m/s
+#define AR_WPNAV_SPEED_UPDATE_MIN_MS    500     // max speed cannot be updated more than once in this many milliseconds
 #define AR_WPNAV_RADIUS_DEFAULT         2.0f
 #define AR_WPNAV_OVERSPEED_RATIO_MAX    5.0f    // if _overspeed_enabled the vehicle may travel as quickly as 5x WP_SPEED
 
@@ -94,16 +95,18 @@ AR_WPNav::AR_WPNav(AR_AttitudeControl& atc, AR_PosControl &pos_control) :
 void AR_WPNav::init(float speed_max)
 {
     // determine max speed, acceleration and jerk
-    if (!is_positive(speed_max)) {
-        speed_max = _speed_max;
+    if (is_positive(speed_max)) {
+        _base_speed_max = speed_max;
+    } else {
+        _base_speed_max = _speed_max;
     }
-    speed_max = MAX(AR_WPNAV_SPEED_MIN, speed_max);
+    _base_speed_max = MAX(AR_WPNAV_SPEED_MIN, _base_speed_max);
     const float atc_accel_max = MIN(_atc.get_accel_max(), _atc.get_decel_max());
     const float accel_max = is_positive(_accel_max) ? MIN(_accel_max, atc_accel_max) : atc_accel_max;
     const float jerk_max = is_positive(_jerk_max) ? _jerk_max : accel_max;
 
     // initialise position controller
-    _pos_control.set_limits(speed_max, accel_max, _atc.get_turn_lat_accel_max(), jerk_max);
+    _pos_control.set_limits(_base_speed_max, accel_max, _atc.get_turn_lat_accel_max(), jerk_max);
 
     _scurve_prev_leg.init();
     _scurve_this_leg.init();
@@ -121,6 +124,9 @@ void AR_WPNav::init(float speed_max)
     // initialise origin and destination to stopping point
     _orig_and_dest_valid = false;
     set_origin_and_destination_to_stopping_point();
+
+    // initialise nudge speed to zero
+    set_nudge_speed_max(0);
 }
 
 // update navigation
@@ -145,6 +151,9 @@ void AR_WPNav::update(float dt)
 
     update_distance_and_bearing_to_destination();
 
+    // handle change in max speed
+    update_speed_max();
+
     // advance target along path unless vehicle is pivoting
     if (!_pivot.active()) {
         switch (_nav_control_type) {
@@ -170,21 +179,17 @@ bool AR_WPNav::set_speed_max(float speed_max)
         return false;
     }
 
-    // ignore calls that do not change the speed
-    if (is_equal(speed_max, _pos_control.get_speed_max())) {
-        return true;
-    }
-
-    // update position controller max speed
-    _pos_control.set_limits(speed_max, _pos_control.get_accel_max(), _pos_control.get_lat_accel_max(), _pos_control.get_jerk_max());
-
-    // change track speed
-    _scurve_this_leg.set_speed_max(_pos_control.get_speed_max(), _pos_control.get_speed_max(), _pos_control.get_speed_max());
-    _scurve_next_leg.set_speed_max(_pos_control.get_speed_max(), _pos_control.get_speed_max(), _pos_control.get_speed_max());
-
+    _base_speed_max = speed_max;
     return true;
 }
 
+// set speed nudge in m/s.  this will have no effect unless nudge_speed_max > speed_max
+// nudge_speed_max should always be positive regardless of whether the vehicle is travelling forward or reversing
+void AR_WPNav::set_nudge_speed_max(float nudge_speed_max)
+{
+    _nudge_speed_max = nudge_speed_max;
+}
+
 // set desired location and (optionally) next_destination
 // next_destination should be provided if known to allow smooth cornering
 bool AR_WPNav::set_desired_location(const struct Location& destination, Location next_destination)
@@ -586,3 +591,29 @@ bool AR_WPNav::set_origin_and_destination_to_stopping_point()
     _orig_and_dest_valid = true;
     return true;
 }
+
+// check for changes in _base_speed_max or _nudge_speed_max
+// updates position controller limits and recalculate scurve path if required
+void AR_WPNav::update_speed_max()
+{
+    const float speed_max = MAX(_base_speed_max, _nudge_speed_max);
+
+    // ignore calls that do not change the speed
+    if (is_equal(speed_max, _pos_control.get_speed_max())) {
+        return;
+    }
+
+    // protect against rapid updates
+    const uint32_t now_ms = AP_HAL::millis();
+    if (now_ms - _last_speed_update_ms < AR_WPNAV_SPEED_UPDATE_MIN_MS) {
+        return;
+    }
+    _last_speed_update_ms = now_ms;
+
+    // update position controller max speed
+    _pos_control.set_limits(speed_max, _pos_control.get_accel_max(), _pos_control.get_lat_accel_max(), _pos_control.get_jerk_max());
+
+    // change track speed
+    _scurve_this_leg.set_speed_max(_pos_control.get_speed_max(), _pos_control.get_speed_max(), _pos_control.get_speed_max());
+    _scurve_next_leg.set_speed_max(_pos_control.get_speed_max(), _pos_control.get_speed_max(), _pos_control.get_speed_max());
+}

libraries/AR_WPNav/AR_WPNav.h

@@ -20,10 +20,14 @@ public:
     virtual void update(float dt);
 
     // get or set maximum speed in m/s
-    // set_speed_max should not be called at more than 3hz or else SCurve path planning may not advance properly
-    float get_speed_max() const { return _pos_control.get_speed_max(); }
+    // if set_speed_max is called in rapid succession changes in speed may be delayed by up to 0.5sec
+    float get_speed_max() const { return _base_speed_max; }
     bool set_speed_max(float speed_max);
 
+    // set speed nudge in m/s.  this will have no effect unless nudge_speed_max > speed_max
+    // nudge_speed_max should always be positive regardless of whether the vehicle is travelling forward or reversing
+    void set_nudge_speed_max(float nudge_speed_max);
+
     // execute the mission in reverse (i.e. drive backwards to destination)
     bool get_reversed() const { return _reversed; }
     void set_reversed(bool reversed) { _reversed = reversed; }
@@ -131,6 +135,10 @@ protected:
     // set origin and destination to stopping point
     bool set_origin_and_destination_to_stopping_point();
 
+    // check for changes in _base_speed_max or _nudge_speed_max
+    // updates position controller limits and recalculate scurve path if required
+    void update_speed_max();
+
     // parameters
     AP_Float _speed_max;            // target speed between waypoints in m/s
     AP_Float _radius;               // distance in meters from a waypoint when we consider the waypoint has been reached
@@ -165,6 +173,11 @@ protected:
         NAV_PSC_INPUT_SHAPING       // position controller input shaping used for navigation
     } _nav_control_type;            // navigation controller that should be used to travel from _origin to _destination
 
+    // speed_max handling
+    float _base_speed_max;          // speed max (in m/s) derived from parameters or passed into init
+    float _nudge_speed_max;         // "nudge" speed max (in m/s) normally from the pilot.  has no effect if less than _base_speed_max.  always positive.
+    uint32_t _last_speed_update_ms; // system time that speed_max was last update.  used to ensure speed_max is not update too quickly
+
     // main outputs from navigation library
     float _desired_speed_limited;   // desired speed (above) but accel/decel limited
     float _desired_turn_rate_rads;  // desired turn-rate in rad/sec (negative is counter clockwise, positive is clockwise)