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Copter: FlightMode - convert THROW flight mode

This commit is contained in:
Peter Barker 2016-08-03 12:30:27 +10:00 committed by Randy Mackay
parent 1de99c737e
commit cf423ce681
4 changed files with 91 additions and 72 deletions
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20
ArduCopter/Copter.h
View File

@ -415,16 +415,6 @@ private:
int32_t nav_delay_time_max; // used for delaying the navigation commands (eg land,takeoff etc.)
uint32_t nav_delay_time_start;
// throw mode state
struct {
ThrowModeStage stage;
ThrowModeStage prev_stage;
uint32_t last_log_ms;
bool nextmode_attempted;
uint32_t free_fall_start_ms; // system time free fall was detected
float free_fall_start_velz; // vertical velocity when free fall was detected
} throw_state = {Throw_Disarmed, Throw_Disarmed, 0, false, 0, 0.0f};
// Battery Sensors
AP_BattMonitor battery = AP_BattMonitor::create();
@ -782,14 +772,6 @@ private:
void set_mode_land_with_pause(mode_reason_t reason);
bool landing_with_GPS();
// Throw to launch functionality
bool throw_init(bool ignore_checks);
void throw_run();
bool throw_detected();
bool throw_attitude_good();
bool throw_height_good();
bool throw_position_good();
bool smart_rtl_init(bool ignore_checks);
void smart_rtl_exit();
void smart_rtl_run();
@ -1036,6 +1018,8 @@ private:
Copter::FlightMode_AVOID_ADSB flightmode_avoid_adsb{*this};
Copter::FlightMode_THROW flightmode_throw{*this};
public:
void mavlink_delay_cb();
void failsafe_check();

40
ArduCopter/FlightMode.h
View File

@ -824,3 +824,43 @@ protected:
private:
};
class FlightMode_THROW : public FlightMode {
public:
FlightMode_THROW(Copter &copter) :
Copter::FlightMode(copter)
{ }
bool init(bool ignore_checks) override;
void run() override; // should be called at 100hz or more
bool requires_GPS() const override { return true; }
bool has_manual_throttle() const override { return false; }
bool allows_arming(bool from_gcs) const override { return true; };
bool is_autopilot() const override { return false; }
protected:
const char *name() const override { return "THROW"; }
const char *name4() const override { return "THRW"; }
private:
bool throw_detected();
bool throw_position_good();
bool throw_height_good();
bool throw_attitude_good();
ThrowModeStage stage = Throw_Disarmed;
ThrowModeStage prev_stage = Throw_Disarmed;
uint32_t last_log_ms;
bool nextmode_attempted;
uint32_t free_fall_start_ms; // system time free fall was detected
float free_fall_start_velz; // vertical velocity when free fall was detected
};

74
ArduCopter/control_throw.cpp
View File

@ -2,7 +2,7 @@
// throw_init - initialise throw controller
bool Copter::throw_init(bool ignore_checks)
bool Copter::FlightMode_THROW::init(bool ignore_checks)
{
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to use throw to start
@ -15,15 +15,15 @@ bool Copter::throw_init(bool ignore_checks)
}
// init state
throw_state.stage = Throw_Disarmed;
throw_state.nextmode_attempted = false;
stage = Throw_Disarmed;
nextmode_attempted = false;
return true;
}
// runs the throw to start controller
// should be called at 100hz or more
void Copter::throw_run()
void Copter::FlightMode_THROW::run()
{
/* Throw State Machine
Throw_Disarmed - motors are off
@ -36,22 +36,22 @@ void Copter::throw_run()
// Don't enter THROW mode if interlock will prevent motors running
if (!motors->armed() && motors->get_interlock()) {
// state machine entry is always from a disarmed state
throw_state.stage = Throw_Disarmed;
stage = Throw_Disarmed;
} else if (throw_state.stage == Throw_Disarmed && motors->armed()) {
} else if (stage == Throw_Disarmed && motors->armed()) {
gcs().send_text(MAV_SEVERITY_INFO,"waiting for throw");
throw_state.stage = Throw_Detecting;
stage = Throw_Detecting;
} else if (throw_state.stage == Throw_Detecting && throw_detected()){
} else if (stage == Throw_Detecting && throw_detected()){
gcs().send_text(MAV_SEVERITY_INFO,"throw detected - uprighting");
throw_state.stage = Throw_Uprighting;
stage = Throw_Uprighting;
// Cancel the waiting for throw tone sequence
AP_Notify::flags.waiting_for_throw = false;
} else if (throw_state.stage == Throw_Uprighting && throw_attitude_good()) {
} else if (stage == Throw_Uprighting && throw_attitude_good()) {
gcs().send_text(MAV_SEVERITY_INFO,"uprighted - controlling height");
throw_state.stage = Throw_HgtStabilise;
stage = Throw_HgtStabilise;
// initialize vertical speed and acceleration limits
// use brake mode values for rapid response
@ -71,19 +71,19 @@ void Copter::throw_run()
pos_control->set_desired_velocity_z(fmaxf(inertial_nav.get_velocity_z(),0.0f));
// Set the auto_arm status to true to avoid a possible automatic disarm caused by selection of an auto mode with throttle at minimum
set_auto_armed(true);
_copter.set_auto_armed(true);
} else if (throw_state.stage == Throw_HgtStabilise && throw_height_good()) {
} else if (stage == Throw_HgtStabilise && throw_height_good()) {
gcs().send_text(MAV_SEVERITY_INFO,"height achieved - controlling position");
throw_state.stage = Throw_PosHold;
stage = Throw_PosHold;
// initialise the loiter target to the curent position and velocity
wp_nav->init_loiter_target();
// Set the auto_arm status to true to avoid a possible automatic disarm caused by selection of an auto mode with throttle at minimum
set_auto_armed(true);
} else if (throw_state.stage == Throw_PosHold && throw_position_good()) {
if (!throw_state.nextmode_attempted) {
_copter.set_auto_armed(true);
} else if (stage == Throw_PosHold && throw_position_good()) {
if (!nextmode_attempted) {
switch (g2.throw_nextmode) {
case AUTO:
case GUIDED:
@ -97,12 +97,12 @@ void Copter::throw_run()
// do nothing
break;
}
throw_state.nextmode_attempted = true;
nextmode_attempted = true;
}
}
// Throw State Processing
switch (throw_state.stage) {
switch (stage) {
case Throw_Disarmed:
@ -181,18 +181,18 @@ void Copter::throw_run()
// log at 10hz or if stage changes
uint32_t now = AP_HAL::millis();
if ((throw_state.stage != throw_state.prev_stage) || (now - throw_state.last_log_ms) > 100) {
throw_state.prev_stage = throw_state.stage;
throw_state.last_log_ms = now;
if ((stage != prev_stage) || (now - last_log_ms) > 100) {
prev_stage = stage;
last_log_ms = now;
float velocity = inertial_nav.get_velocity().length();
float velocity_z = inertial_nav.get_velocity().z;
float accel = ins.get_accel().length();
float accel = _copter.ins.get_accel().length();
float ef_accel_z = ahrs.get_accel_ef().z;
bool throw_detect = (throw_state.stage > Throw_Detecting) || throw_detected();
bool attitude_ok = (throw_state.stage > Throw_Uprighting) || throw_attitude_good();
bool height_ok = (throw_state.stage > Throw_HgtStabilise) || throw_height_good();
bool pos_ok = (throw_state.stage > Throw_PosHold) || throw_position_good();
Log_Write_Throw(throw_state.stage,
bool throw_detect = (stage > Throw_Detecting) || throw_detected();
bool attitude_ok = (stage > Throw_Uprighting) || throw_attitude_good();
bool height_ok = (stage > Throw_HgtStabilise) || throw_height_good();
bool pos_ok = (stage > Throw_PosHold) || throw_position_good();
_copter.Log_Write_Throw(stage,
velocity,
velocity_z,
accel,
@ -204,7 +204,7 @@ void Copter::throw_run()
}
}
bool Copter::throw_detected()
bool Copter::FlightMode_THROW::throw_detected()
{
// Check that we have a valid navigation solution
nav_filter_status filt_status = inertial_nav.get_filter_status();
@ -227,19 +227,19 @@ bool Copter::throw_detected()
bool free_falling = ahrs.get_accel_ef().z > -0.25 * GRAVITY_MSS;
// Check if the accel length is < 1.0g indicating that any throw action is complete and the copter has been released
bool no_throw_action = ins.get_accel().length() < 1.0f * GRAVITY_MSS;
bool no_throw_action = _copter.ins.get_accel().length() < 1.0f * GRAVITY_MSS;
// High velocity or free-fall combined with increasing height indicate a possible air-drop or throw release
bool possible_throw_detected = (free_falling || high_speed) && changing_height && no_throw_action;
// Record time and vertical velocity when we detect the possible throw
if (possible_throw_detected && ((AP_HAL::millis() - throw_state.free_fall_start_ms) > 500)) {
throw_state.free_fall_start_ms = AP_HAL::millis();
throw_state.free_fall_start_velz = inertial_nav.get_velocity().z;
if (possible_throw_detected && ((AP_HAL::millis() - free_fall_start_ms) > 500)) {
free_fall_start_ms = AP_HAL::millis();
free_fall_start_velz = inertial_nav.get_velocity().z;
}
// Once a possible throw condition has been detected, we check for 2.5 m/s of downwards velocity change in less than 0.5 seconds to confirm
bool throw_condition_confirmed = ((AP_HAL::millis() - throw_state.free_fall_start_ms < 500) && ((inertial_nav.get_velocity().z - throw_state.free_fall_start_velz) < -250.0f));
bool throw_condition_confirmed = ((AP_HAL::millis() - free_fall_start_ms < 500) && ((inertial_nav.get_velocity().z - free_fall_start_velz) < -250.0f));
// start motors and enter the control mode if we are in continuous freefall
if (throw_condition_confirmed) {
@ -249,20 +249,20 @@ bool Copter::throw_detected()
}
}
bool Copter::throw_attitude_good()
bool Copter::FlightMode_THROW::throw_attitude_good()
{
// Check that we have uprighted the copter
const Matrix3f &rotMat = ahrs.get_rotation_body_to_ned();
return (rotMat.c.z > 0.866f); // is_upright
}
bool Copter::throw_height_good()
bool Copter::FlightMode_THROW::throw_height_good()
{
// Check that we are no more than 0.5m below the demanded height
return (pos_control->get_alt_error() < 50.0f);
}
bool Copter::throw_position_good()
bool Copter::FlightMode_THROW::throw_position_good()
{
// check that our horizontal position error is within 50cm
return (pos_control->get_horizontal_error() < 50.0f);

13
ArduCopter/flight_mode.cpp
View File

@ -149,7 +149,10 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
break;
case THROW:
success = throw_init(ignore_checks);
success = flightmode_throw.init(ignore_checks);
if (success) {
flightmode = &flightmode_throw;
}
break;
case AVOID_ADSB:
@ -233,10 +236,6 @@ void Copter::update_flight_mode()
switch (control_mode) {
case THROW:
throw_run();
break;
case GUIDED_NOGPS:
guided_nogps_run();
break;
@ -312,7 +311,6 @@ bool Copter::mode_requires_GPS()
}
switch (control_mode) {
case SMART_RTL:
case THROW:
return true;
default:
return false;
@ -369,9 +367,6 @@ void Copter::notify_flight_mode()
// set flight mode string
switch (control_mode) {
case THROW:
notify.set_flight_mode_str("THRW");
break;
case GUIDED_NOGPS:
notify.set_flight_mode_str("GNGP");
break;