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Plane: port the rest of plane/landing.cpp to AP_Landing

This commit is contained in:
Tom Pittenger 2016-11-21 16:09:32 -08:00 committed by Tom Pittenger
parent 75e625fd30
commit db42252168
3 changed files with 13 additions and 179 deletions
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12
ArduPlane/Plane.h
View File

@ -570,7 +570,7 @@ private:
bool auto_navigation_mode:1;
// this controls throttle suppression in auto modes
bool throttle_suppressed:1;
bool throttle_suppressed;
// reduce throttle to eliminate battery over-current
int8_t throttle_watt_limit_max;
@ -622,7 +622,13 @@ private:
AP_Terrain terrain {ahrs, mission, rally};
#endif
AP_Landing landing {mission,ahrs,SpdHgt_Controller,aparm};
AP_Landing landing {mission,ahrs,SpdHgt_Controller,nav_controller,aparm,
FUNCTOR_BIND_MEMBER(&Plane::set_target_altitude_proportion, void, const Location&, float),
FUNCTOR_BIND_MEMBER(&Plane::constrain_target_altitude_location, void, const Location&, const Location&),
FUNCTOR_BIND_MEMBER(&Plane::adjusted_altitude_cm, int32_t),
FUNCTOR_BIND_MEMBER(&Plane::adjusted_relative_altitude_cm, int32_t),
FUNCTOR_BIND_MEMBER(&Plane::disarm_if_autoland_complete, void),
FUNCTOR_BIND_MEMBER(&Plane::update_flight_stage, void)};
AP_ADSB adsb {ahrs};
@ -913,8 +919,6 @@ private:
bool geofence_breached(void);
bool verify_land();
void disarm_if_autoland_complete();
void setup_landing_glide_slope(void);
void adjust_landing_slope_for_rangefinder_bump(void);
float tecs_hgt_afe(void);
void set_nav_controller(void);
void loiter_angle_reset(void);

4
ArduPlane/altitude.cpp
View File

@ -35,8 +35,8 @@ void Plane::adjust_altitude_target()
set_target_altitude_location(next_WP_loc);
} else if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE) {
setup_landing_glide_slope();
adjust_landing_slope_for_rangefinder_bump();
landing.setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude.offset_cm);
landing.adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, auto_state.wp_distance, target_altitude.offset_cm);
} else if (reached_loiter_target()) {
// once we reach a loiter target then lock to the final
// altitude target

176
ArduPlane/landing.cpp
View File

@ -10,180 +10,10 @@
*/
bool Plane::verify_land()
{
// we don't 'verify' landing in the sense that it never completes,
// so we don't verify command completion. Instead we use this to
// adjust final landing parameters
// when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
throttle_suppressed = false;
landing.complete = false;
landing.pre_flare = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
// see if we have reached abort altitude
if (adjusted_relative_altitude_cm() > auto_state.takeoff_altitude_rel_cm) {
next_WP_loc = current_loc;
mission.stop();
bool success = landing.restart_landing_sequence();
mission.resume();
if (!success) {
// on a restart failure lets RTL or else the plane may fly away with nowhere to go!
set_mode(RTL, MODE_REASON_MISSION_END);
}
// make sure to return false so it leaves the mission index alone
}
return false;
}
float height = height_above_target();
// use rangefinder to correct if possible
height -= rangefinder_correction();
float height = height_above_target() - rangefinder_correction();
/* Set land_complete (which starts the flare) under 3 conditions:
1) we are within LAND_FLARE_ALT meters of the landing altitude
2) we are within LAND_FLARE_SEC of the landing point vertically
by the calculated sink rate (if LAND_FLARE_SEC != 0)
3) we have gone past the landing point and don't have
rangefinder data (to prevent us keeping throttle on
after landing if we've had positive baro drift)
*/
bool rangefinder_in_range = rangefinder_state.in_range;
// flare check:
// 1) below flare alt/sec requires approach stage check because if sec/alt are set too
// large, and we're on a hard turn to line up for approach, we'll prematurely flare by
// skipping approach phase and the extreme roll limits will make it hard to line up with runway
// 2) passed land point and don't have an accurate AGL
// 3) probably crashed (ensures motor gets turned off)
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= aparm.land_flare_alt);
bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= auto_state.sink_rate * aparm.land_flare_sec);
bool probably_crashed = (aparm.crash_detection_enable && fabsf(auto_state.sink_rate) < 0.2f && !is_flying());
if ((on_approach_stage && below_flare_alt) ||
(on_approach_stage && below_flare_sec && (auto_state.wp_proportion > 0.5)) ||
(!rangefinder_in_range && auto_state.wp_proportion >= 1) ||
probably_crashed) {
if (!landing.complete) {
landing.post_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
(double)height, (double)auto_state.sink_rate,
(double)gps.ground_speed(),
(double)get_distance(current_loc, next_WP_loc));
}
landing.complete = true;
update_flight_stage();
}
if (gps.ground_speed() < 3) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change
// target speeds too early.
aparm.airspeed_cruise_cm.load();
aparm.min_gndspeed_cm.load();
aparm.throttle_cruise.load();
}
} else if (!landing.complete && !landing.pre_flare && aparm.land_pre_flare_airspeed > 0) {
bool reached_pre_flare_alt = aparm.land_pre_flare_alt > 0 && (height <= aparm.land_pre_flare_alt);
bool reached_pre_flare_sec = aparm.land_pre_flare_sec > 0 && (height <= auto_state.sink_rate * aparm.land_pre_flare_sec);
if (reached_pre_flare_alt || reached_pre_flare_sec) {
landing.pre_flare = true;
update_flight_stage();
}
}
/*
when landing we keep the L1 navigation waypoint 200m ahead. This
prevents sudden turns if we overshoot the landing point
*/
struct Location land_WP_loc = next_WP_loc;
int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
location_update(land_WP_loc,
land_bearing_cd*0.01f,
get_distance(prev_WP_loc, current_loc) + 200);
nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
// once landed and stationary, post some statistics
// this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (landing.post_stats && !arming.is_armed()) {
landing.post_stats = false;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
}
// check if we should auto-disarm after a confirmed landing
disarm_if_autoland_complete();
/*
we return false as a landing mission item never completes
we stay on this waypoint unless the GCS commands us to change
mission item, reset the mission, command a go-around or finish
a land_abort procedure.
*/
return false;
return landing.verify_land(flight_stage, prev_WP_loc, next_WP_loc, current_loc,
auto_state.takeoff_altitude_rel_cm, height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range, throttle_suppressed);
}
void Plane::adjust_landing_slope_for_rangefinder_bump(void)
{
// check the rangefinder correction for a large change. When found, recalculate the glide slope. This is done by
// determining the slope from your current location to the land point then following that back up to the approach
// altitude and moving the prev_wp to that location. From there
float correction_delta = fabsf(rangefinder_state.last_stable_correction) - fabsf(rangefinder_state.correction);
if (aparm.land_slope_recalc_shallow_threshold <= 0 ||
fabsf(correction_delta) < aparm.land_slope_recalc_shallow_threshold) {
return;
}
rangefinder_state.last_stable_correction = rangefinder_state.correction;
float corrected_alt_m = (adjusted_altitude_cm() - next_WP_loc.alt)*0.01f - rangefinder_state.correction;
float total_distance_m = get_distance(prev_WP_loc, next_WP_loc);
float top_of_glide_slope_alt_m = total_distance_m * corrected_alt_m / auto_state.wp_distance;
prev_WP_loc.alt = top_of_glide_slope_alt_m*100 + next_WP_loc.alt;
// re-calculate auto_state.land_slope with updated prev_WP_loc
setup_landing_glide_slope();
landing.check_if_need_to_abort(rangefinder_state);
}
/*
a special glide slope calculation for the landing approach
During the land approach use a linear glide slope to a point
projected through the landing point. We don't use the landing point
itself as that leads to discontinuities close to the landing point,
which can lead to erratic pitch control
*/
void Plane::setup_landing_glide_slope(void)
{
Location loc = landing.setup_landing_glide_slope(prev_WP_loc, next_WP_loc);
// setup the offset_cm for set_target_altitude_proportion()
target_altitude.offset_cm = loc.alt - prev_WP_loc.alt;
// calculate the proportion we are to the target
float land_proportion = location_path_proportion(current_loc, prev_WP_loc, loc);
// now setup the glide slope for landing
set_target_altitude_proportion(loc, 1.0f - land_proportion);
// stay within the range of the start and end locations in altitude
constrain_target_altitude_location(loc, prev_WP_loc);
}