#pragma once #include #include #include #include // Inertial Navigation library #include // Position control library // loiter maximum velocities and accelerations #define AC_CIRCLE_RADIUS_DEFAULT 1000.0f // radius of the circle in cm that the vehicle will fly #define AC_CIRCLE_RATE_DEFAULT 20.0f // turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise #define AC_CIRCLE_ANGULAR_ACCEL_MIN 2.0f // angular acceleration should never be less than 2deg/sec #define AC_CIRCLE_RADIUS_MAX 200000.0f // maximum allowed circle radius of 2km class AC_Circle { public: /// Constructor AC_Circle(const AP_InertialNav& inav, const AP_AHRS_View& ahrs, AC_PosControl& pos_control); /// init - initialise circle controller setting center specifically /// set terrain_alt to true if center.z should be interpreted as an alt-above-terrain. Rate should be +ve in deg/sec for cw turn /// caller should set the position controller's x,y and z speeds and accelerations before calling this void init(const Vector3p& center, bool terrain_alt, float rate_deg_per_sec); /// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading /// caller should set the position controller's x,y and z speeds and accelerations before calling this void init(); /// set circle center to a Location void set_center(const Location& center); /// set_circle_center as a vector from ekf origin /// terrain_alt should be true if center.z is alt is above terrain void set_center(const Vector3f& center, bool terrain_alt) { _center = center.topostype(); _terrain_alt = terrain_alt; } /// get_circle_center in cm from home const Vector3p& get_center() const { return _center; } /// returns true if using terrain altitudes bool center_is_terrain_alt() const { return _terrain_alt; } /// get_radius - returns radius of circle in cm float get_radius() const { return is_positive(_radius)?_radius:_radius_parm; } /// set_radius_cm - sets circle radius in cm void set_radius_cm(float radius_cm); /// get_rate - returns target rate in deg/sec held in RATE parameter float get_rate() const { return _rate; } /// get_rate_current - returns actual calculated rate target in deg/sec, which may be less than _rate float get_rate_current() const { return ToDeg(_angular_vel); } /// set_rate - set circle rate in degrees per second void set_rate(float deg_per_sec); /// get_angle_total - return total angle in radians that vehicle has circled float get_angle_total() const { return _angle_total; } /// update - update circle controller /// returns false on failure which indicates a terrain failsafe bool update(float climb_rate_cms = 0.0f) WARN_IF_UNUSED; /// get desired roll, pitch which should be fed into stabilize controllers float get_roll() const { return _pos_control.get_roll_cd(); } float get_pitch() const { return _pos_control.get_pitch_cd(); } Vector3f get_thrust_vector() const { return _pos_control.get_thrust_vector(); } float get_yaw() const { return _yaw; } /// returns true if update has been run recently /// used by vehicle code to determine if get_yaw() is valid bool is_active() const; // get_closest_point_on_circle - returns closest point on the circle // circle's center should already have been set // closest point on the circle will be placed in result // result's altitude (i.e. z) will be set to the circle_center's altitude // if vehicle is at the center of the circle, the edge directly behind vehicle will be returned void get_closest_point_on_circle(Vector3f &result) const; /// get horizontal distance to loiter target in cm float get_distance_to_target() const { return _pos_control.get_pos_error_xy_cm(); } /// get bearing to target in centi-degrees int32_t get_bearing_to_target() const { return _pos_control.get_bearing_to_target_cd(); } /// true if pilot control of radius and turn rate is enabled bool pilot_control_enabled() const { return (_options.get() & CircleOptions::MANUAL_CONTROL) != 0; } /// true if mount roi is at circle center bool roi_at_center() const { return (_options.get() & CircleOptions::ROI_AT_CENTER) != 0; } /// provide rangefinder based terrain offset /// terrain offset is the terrain's height above the EKF origin void set_rangefinder_terrain_offset(bool use, bool healthy, float terrain_offset_cm) { _rangefinder_available = use; _rangefinder_healthy = healthy; _rangefinder_terrain_offset_cm = terrain_offset_cm;} /// check for a change in the radius params void check_param_change(); static const struct AP_Param::GroupInfo var_info[]; private: // calc_velocities - calculate angular velocity max and acceleration based on radius and rate // this should be called whenever the radius or rate are changed // initialises the yaw and current position around the circle // init_velocity should be set true if vehicle is just starting circle void calc_velocities(bool init_velocity); // init_start_angle - sets the starting angle around the circle and initialises the angle_total // if use_heading is true the vehicle's heading will be used to init the angle causing minimum yaw movement // if use_heading is false the vehicle's position from the center will be used to initialise the angle void init_start_angle(bool use_heading); // get expected source of terrain data enum class TerrainSource { TERRAIN_UNAVAILABLE, TERRAIN_FROM_RANGEFINDER, TERRAIN_FROM_TERRAINDATABASE, }; AC_Circle::TerrainSource get_terrain_source() const; // get terrain's altitude (in cm above the ekf origin) at the current position (+ve means terrain below vehicle is above ekf origin's altitude) bool get_terrain_offset(float& offset_cm); // flags structure struct circle_flags { uint8_t panorama : 1; // true if we are doing a panorama } _flags; // references to inertial nav and ahrs libraries const AP_InertialNav& _inav; const AP_AHRS_View& _ahrs; AC_PosControl& _pos_control; enum CircleOptions { MANUAL_CONTROL = 1U << 0, FACE_DIRECTION_OF_TRAVEL = 1U << 1, INIT_AT_CENTER = 1U << 2, // true then the circle center will be the current location, false and the center will be 1 radius ahead ROI_AT_CENTER = 1U << 3, // true when the mount roi is at circle center }; // parameters AP_Float _radius_parm; // radius of circle in cm loaded from params AP_Float _rate_parm; // rotation speed in deg/sec AP_Int16 _options; // stick control enable/disable // internal variables Vector3p _center; // center of circle in cm from home float _radius; // radius of circle in cm float _rate; // rotation speed of circle in deg/sec. +ve for cw turn float _yaw; // yaw heading (normally towards circle center) float _angle; // current angular position around circle in radians (0=directly north of the center of the circle) float _angle_total; // total angle travelled in radians float _angular_vel; // angular velocity in radians/sec float _angular_vel_max; // maximum velocity in radians/sec float _angular_accel; // angular acceleration in radians/sec/sec uint32_t _last_update_ms; // system time of last update float _last_radius_param; // last value of radius param, used to update radius on param change // terrain following variables bool _terrain_alt; // true if _center.z is alt-above-terrain, false if alt-above-ekf-origin bool _rangefinder_available; // true if range finder could be used bool _rangefinder_healthy; // true if range finder is healthy float _rangefinder_terrain_offset_cm; // latest rangefinder based terrain offset (e.g. terrain's height above EKF origin) };