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AP_Soaring: inhibit msg spam when lingering in loiter waiting for heading to line up

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This commit is contained in:
Tom Pittenger 2019-06-07 08:07:06 -07:00 committed by Andrew Tridgell
parent 3211c03f58
commit f24095e9ed
2 changed files with 22 additions and 9 deletions
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23
libraries/AP_Soaring/AP_Soaring.cpp
View File

@ -174,27 +174,36 @@ bool SoaringController::check_thermal_criteria()
SoaringController::LoiterStatus SoaringController::check_cruise_criteria()
{
if (!soar_active) {
_cruise_criteria_msg_last = SOARING_DISABLED;
return SOARING_DISABLED;
}
LoiterStatus result = THERMAL_GOOD_TO_KEEP_LOITERING;
const float alt = _vario.alt;
if (alt > alt_max) {
gcs().send_text(MAV_SEVERITY_ALERT, "Reached upper altitude, beginning cruise. Alt = %f2", (double)alt);
return ALT_TOO_HIGH;
result = ALT_TOO_HIGH;
if (result != _cruise_criteria_msg_last) {
gcs().send_text(MAV_SEVERITY_ALERT, "Reached upper alt = %dm", (int16_t)alt);
}
} else if (alt < alt_min) {
gcs().send_text(MAV_SEVERITY_ALERT, "Reached lower altitude, beginning cruise. Alt = %f2", (double)alt);
return ALT_TOO_LOW;
result = ALT_TOO_LOW;
if (result != _cruise_criteria_msg_last) {
gcs().send_text(MAV_SEVERITY_ALERT, "Reached lower alt = %dm", (int16_t)alt);
}
} else if ((AP_HAL::micros64() - _thermal_start_time_us) > ((unsigned)min_thermal_s * 1e6)) {
const float thermalability = (_ekf.X[0]*expf(-powf(_aparm.loiter_radius / _ekf.X[1], 2))) - EXPECTED_THERMALLING_SINK;
const float mcCreadyAlt = McCready(alt);
if (thermalability < mcCreadyAlt) {
gcs().send_text(MAV_SEVERITY_INFO, "Thermal weak, recommend quitting: W %f2 R %f2 th %f2 alt %f2 Mc %f2", (double)_ekf.X[0], (double)_ekf.X[1], (double)thermalability, (double)alt, (double)mcCreadyAlt);
return THERMAL_WEAK;
result = THERMAL_WEAK;
if (result != _cruise_criteria_msg_last) {
gcs().send_text(MAV_SEVERITY_INFO, "Thermal weak: W %f.3 R %f.3 th %f.1 alt %dm Mc %dm", (double)_ekf.X[0], (double)_ekf.X[1], (double)thermalability, (int32_t)alt, (int32_t)mcCreadyAlt);
}
}
}
return THERMAL_GOOD_TO_KEEP_LOITERING;
_cruise_criteria_msg_last = result;
return result;
}
void SoaringController::init_thermalling()

8
libraries/AP_Soaring/AP_Soaring.h
View File

@ -67,13 +67,13 @@ protected:
public:
SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms);
enum LoiterStatus {
typedef enum LoiterStatus {
SOARING_DISABLED,
ALT_TOO_HIGH,
ALT_TOO_LOW,
THERMAL_WEAK,
THERMAL_GOOD_TO_KEEP_LOITERING,
};
} LoiterStatus;
// this supports the TECS_* user settable parameters
static const struct AP_Param::GroupInfo var_info[];
@ -100,4 +100,8 @@ public:
}
void update_vario();
private:
// slow down messages if they are the same. During loiter we could smap the same message. Only show new messages during loiters
LoiterStatus _cruise_criteria_msg_last;
};