/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- #include #include extern const AP_HAL::HAL& hal; const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = { // index 0 was used for the old orientation matrix // @Param: SPEED // @DisplayName: Waypoint Horizontal Speed Target // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission // @Units: Centimeters/Second // @Range: 0 2000 // @Increment: 50 // @User: Standard AP_GROUPINFO("SPEED", 0, AC_WPNav, _wp_speed_cms, WPNAV_WP_SPEED), // @Param: RADIUS // @DisplayName: Waypoint Radius // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit. // @Units: Centimeters // @Range: 100 1000 // @Increment: 1 // @User: Standard AP_GROUPINFO("RADIUS", 1, AC_WPNav, _wp_radius_cm, WPNAV_WP_RADIUS), // @Param: SPEED_UP // @DisplayName: Waypoint Climb Speed Target // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission // @Units: Centimeters/Second // @Range: 0 1000 // @Increment: 50 // @User: Standard AP_GROUPINFO("SPEED_UP", 2, AC_WPNav, _wp_speed_up_cms, WPNAV_WP_SPEED_UP), // @Param: SPEED_DN // @DisplayName: Waypoint Descent Speed Target // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission // @Units: Centimeters/Second // @Range: 0 1000 // @Increment: 50 // @User: Standard AP_GROUPINFO("SPEED_DN", 3, AC_WPNav, _wp_speed_down_cms, WPNAV_WP_SPEED_DOWN), // @Param: LOIT_SPEED // @DisplayName: Loiter Horizontal Maximum Speed // @Description: Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode // @Units: Centimeters/Second // @Range: 0 2000 // @Increment: 50 // @User: Standard AP_GROUPINFO("LOIT_SPEED", 4, AC_WPNav, _loiter_speed_cms, WPNAV_LOITER_SPEED), AP_GROUPEND }; // Default constructor. // Note that the Vector/Matrix constructors already implicitly zero // their values. // AC_WPNav::AC_WPNav(AP_InertialNav* inav, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon) : _inav(inav), _pid_pos_lat(pid_pos_lat), _pid_pos_lon(pid_pos_lon), _pid_rate_lat(pid_rate_lat), _pid_rate_lon(pid_rate_lon), _loiter_last_update(0), _wpnav_last_update(0), _cos_yaw(1.0), _sin_yaw(0.0), _cos_pitch(1.0), _desired_roll(0), _desired_pitch(0), _target(0,0,0), _pilot_vel_forward_cms(0), _pilot_vel_right_cms(0), _target_vel(0,0,0), _vel_last(0,0,0), _lean_angle_max(MAX_LEAN_ANGLE), dist_error(0,0), desired_vel(0,0), desired_accel(0,0) { AP_Param::setup_object_defaults(this, var_info); // calculate loiter leash calculate_loiter_leash_length(); } /// /// simple loiter controller /// /// project_stopping_point - returns vector to stopping point based on a horizontal position and velocity void AC_WPNav::project_stopping_point(const Vector3f& position, const Vector3f& velocity, Vector3f &target) { float linear_distance; // half the distace we swap between linear and sqrt and the distace we offset sqrt. float linear_velocity; // the velocity we swap between linear and sqrt. float vel_total; float target_dist; // avoid divide by zero if( _pid_pos_lat->kP() <= 0.1 ) { target = position; return; } // calculate point at which velocity switches from linear to sqrt linear_velocity = MAX_LOITER_POS_ACCEL/_pid_pos_lat->kP(); // calculate total current velocity vel_total = safe_sqrt(velocity.x*velocity.x + velocity.y*velocity.y); // calculate distance within which we can stop if (vel_total < linear_velocity) { target_dist = vel_total/_pid_pos_lat->kP(); } else { linear_distance = MAX_LOITER_POS_ACCEL/(2*_pid_pos_lat->kP()*_pid_pos_lat->kP()); target_dist = linear_distance + (vel_total*vel_total)/(2*MAX_LOITER_POS_ACCEL); } target_dist = constrain_float(target_dist, 0, _loiter_leash); target.x = position.x + (target_dist * velocity.x / vel_total); target.y = position.y + (target_dist * velocity.y / vel_total); target.z = position.z; } /// set_loiter_target - set initial loiter target based on current position and velocity void AC_WPNav::set_loiter_target(const Vector3f& position, const Vector3f& velocity) { Vector3f target; calculate_loiter_leash_length(); project_stopping_point(position, velocity, target); _target.x = target.x; _target.y = target.y; } /// move_loiter_target - move loiter target by velocity provided in front/right directions in cm/s void AC_WPNav::move_loiter_target(float control_roll, float control_pitch, float dt) { // convert pilot input to desired velocity in cm/s _pilot_vel_forward_cms = -control_pitch * _loiter_speed_cms / 4500.0f; _pilot_vel_right_cms = control_roll * _loiter_speed_cms / 4500.0f; } /// translate_loiter_target_movements - consumes adjustments created by move_loiter_target void AC_WPNav::translate_loiter_target_movements(float nav_dt) { Vector2f target_vel_adj; float vel_delta_total; float vel_max; float vel_total; // range check nav_dt if( nav_dt < 0 ) { return; } // rotate pilot input to lat/lon frame target_vel_adj.x = (_pilot_vel_forward_cms*_cos_yaw - _pilot_vel_right_cms*_sin_yaw) - _target_vel.x; target_vel_adj.y = (_pilot_vel_forward_cms*_sin_yaw + _pilot_vel_right_cms*_cos_yaw) - _target_vel.y; // constrain the velocity vector and scale if necessary vel_delta_total = safe_sqrt(target_vel_adj.x*target_vel_adj.x + target_vel_adj.y*target_vel_adj.y); vel_max = MAX_LOITER_POS_ACCEL*nav_dt; if( vel_delta_total > vel_max) { target_vel_adj.x = vel_max * target_vel_adj.x/vel_delta_total; target_vel_adj.y = vel_max * target_vel_adj.y/vel_delta_total; } // add desired change in velocity to current target velocity _target_vel.x += target_vel_adj.x; _target_vel.y += target_vel_adj.y; // constrain the velocity vector and scale if necessary vel_total = safe_sqrt(_target_vel.x*_target_vel.x + _target_vel.y*_target_vel.y); if( vel_total > _loiter_speed_cms ) { _target_vel.x = _loiter_speed_cms * _target_vel.x/vel_total; _target_vel.y = _loiter_speed_cms * _target_vel.y/vel_total; } // update target position _target.x += _target_vel.x * nav_dt; _target.y += _target_vel.y * nav_dt; // constrain target position to within reasonable distance of current location Vector3f curr_pos = _inav->get_position(); Vector3f distance_err = _target - curr_pos; float distance = safe_sqrt(distance_err.x*distance_err.x + distance_err.y*distance_err.y); if( distance > _loiter_leash ) { _target.x = curr_pos.x + _loiter_leash * distance_err.x/distance; _target.y = curr_pos.y + _loiter_leash * distance_err.y/distance; } } /// get_distance_to_target - get horizontal distance to loiter target in cm float AC_WPNav::get_distance_to_target() const { return _distance_to_target; } /// get_bearing_to_target - get bearing to loiter target in centi-degrees int32_t AC_WPNav::get_bearing_to_target() const { return get_bearing_cd(_inav->get_position(), _target); } /// update_loiter - run the loiter controller - should be called at 10hz void AC_WPNav::update_loiter() { uint32_t now = hal.scheduler->millis(); float dt = (now - _loiter_last_update) / 1000.0f; _loiter_last_update = now; // catch if we've just been started if( dt >= 1.0 ) { dt = 0.0; reset_I(); } // translate any adjustments from pilot to loiter target translate_loiter_target_movements(dt); // run loiter position controller get_loiter_position_to_velocity(dt, _loiter_speed_cms); } /// calculate_loiter_leash_length - calculates the maximum distance in cm that the target position may be from the current location void AC_WPNav::calculate_loiter_leash_length() { // get loiter position P float kP = _pid_pos_lat->kP(); // calculate horiztonal leash length if(_loiter_speed_cms <= MAX_LOITER_POS_ACCEL / kP) { // linear leash length based on speed close in _loiter_leash = _loiter_speed_cms / kP; }else{ // leash length grows at sqrt of speed further out _loiter_leash = (MAX_LOITER_POS_ACCEL / (2.0*kP*kP)) + (_loiter_speed_cms*_loiter_speed_cms / (2*MAX_LOITER_POS_ACCEL)); } // ensure leash is at least 1m long if( _loiter_leash < 100 ) { _loiter_leash = 100; } } /// /// waypoint navigation /// /// set_destination - set destination using cm from home void AC_WPNav::set_destination(const Vector3f& destination) { // if waypoint controlls is active and copter has reached the previous waypoint use it for the origin if( _reached_destination && ((hal.scheduler->millis() - _wpnav_last_update) < 1000) ) { _origin = _destination; }else{ // otherwise calculate origin from the current position and velocity project_stopping_point(_inav->get_position(), _inav->get_velocity(), _origin); } // set origin and destination set_origin_and_destination(_origin, destination); } /// set_origin_and_destination - set origin and destination using lat/lon coordinates void AC_WPNav::set_origin_and_destination(const Vector3f& origin, const Vector3f& destination) { // store origin and destination locations _origin = origin; _destination = destination; Vector3f pos_delta = _destination - _origin; // calculate leash lengths bool climb = pos_delta.z >= 0; // climbing vs descending leads to different leash lengths because speed_up_cms and speed_down_cms can be different calculate_wp_leash_length(climb); // update leash lengths and _vert_track_scale // scale up z-axis position delta (i.e. distance) to make later leash length calculations simpler pos_delta.z = pos_delta.z * _vert_track_scale; _track_length = pos_delta.length(); _pos_delta_unit = pos_delta/_track_length; // initialise intermediate point to the origin _track_desired = 0; _target = origin; _reached_destination = false; } /// advance_target_along_track - move target location along track from origin to destination void AC_WPNav::advance_target_along_track(float dt) { float track_covered; float track_error; float track_desired_max; float track_desired_temp = _track_desired; float track_extra_max; float curr_delta_length; // get current location Vector3f curr_pos = _inav->get_position(); Vector3f curr_delta = curr_pos - _origin; curr_delta.z = curr_delta.z * _vert_track_scale; curr_delta_length = curr_delta.length(); // increase intermediate target point's velocity if not yet at target speed if(dt > 0 && _limited_speed_xy_cms < _wp_speed_cms) { _limited_speed_xy_cms += WPNAV_WP_ACCELERATION * dt; } if(_limited_speed_xy_cms > _wp_speed_cms) { _limited_speed_xy_cms = _wp_speed_cms; } // calculate how far along the track we are track_covered = curr_delta.x * _pos_delta_unit.x + curr_delta.y * _pos_delta_unit.y + curr_delta.z * _pos_delta_unit.z; track_error = safe_sqrt(curr_delta_length*curr_delta_length - track_covered*track_covered); // calculate how far along the track we could move the intermediate target before reaching the end of the leash track_extra_max = safe_sqrt(_wp_leash_xy*_wp_leash_xy - track_error*track_error); track_desired_max = track_covered + track_extra_max; // advance the current target track_desired_temp += _limited_speed_xy_cms * dt; // constrain the target from moving too far if( track_desired_temp > track_desired_max ) { track_desired_temp = track_desired_max; } // do not let desired point go past the end of the segment track_desired_temp = constrain_float(track_desired_temp, 0, _track_length); _track_desired = max(_track_desired, track_desired_temp); // recalculate the desired position _target.x = _origin.x + _pos_delta_unit.x * _track_desired; _target.y = _origin.y + _pos_delta_unit.y * _track_desired; _target.z = _origin.z + (_pos_delta_unit.z * _track_desired)/_vert_track_scale; // check if we've reached the waypoint if( !_reached_destination ) { if( _track_desired >= _track_length ) { Vector3f dist_to_dest = curr_pos - _destination; dist_to_dest.z *=_vert_track_scale; if( dist_to_dest.length() <= _wp_radius_cm ) { _reached_destination = true; } } } } /// get_distance_to_destination - get horizontal distance to destination in cm float AC_WPNav::get_distance_to_destination() { // get current location Vector3f curr = _inav->get_position(); return pythagorous2(_destination.x-curr.x,_destination.y-curr.y); } /// get_bearing_to_destination - get bearing to next waypoint in centi-degrees int32_t AC_WPNav::get_bearing_to_destination() { return get_bearing_cd(_inav->get_position(), _destination); } /// update_wpnav - run the wp controller - should be called at 10hz void AC_WPNav::update_wpnav() { uint32_t now = hal.scheduler->millis(); float dt = (now - _wpnav_last_update) / 1000.0f; _wpnav_last_update = now; // catch if we've just been started if( dt >= 1.0 ) { dt = 0.0; reset_I(); }else{ // advance the target if necessary advance_target_along_track(dt); } // run loiter position controller get_loiter_position_to_velocity(dt, _wp_speed_cms); } /// /// shared methods /// /// get_loiter_position_to_velocity - loiter position controller /// converts desired position held in _target vector to desired velocity void AC_WPNav::get_loiter_position_to_velocity(float dt, float max_speed_cms) { Vector3f curr = _inav->get_position(); float dist_error_total; float vel_sqrt; float vel_total; float linear_distance; // the distace we swap between linear and sqrt. // calculate distance error dist_error.x = _target.x - curr.x; dist_error.y = _target.y - curr.y; linear_distance = MAX_LOITER_POS_ACCEL/(2*_pid_pos_lat->kP()*_pid_pos_lat->kP()); _distance_to_target = linear_distance; // for reporting purposes dist_error_total = safe_sqrt(dist_error.x*dist_error.x + dist_error.y*dist_error.y); if( dist_error_total > 2*linear_distance ) { vel_sqrt = safe_sqrt(2*MAX_LOITER_POS_ACCEL*(dist_error_total-linear_distance)); desired_vel.x = vel_sqrt * dist_error.x/dist_error_total; desired_vel.y = vel_sqrt * dist_error.y/dist_error_total; }else{ desired_vel.x = _pid_pos_lat->get_p(dist_error.x); desired_vel.y = _pid_pos_lon->get_p(dist_error.y); } // ensure velocity stays within limits vel_total = safe_sqrt(desired_vel.x*desired_vel.x + desired_vel.y*desired_vel.y); if( vel_total > max_speed_cms ) { desired_vel.x = max_speed_cms * desired_vel.x/vel_total; desired_vel.y = max_speed_cms * desired_vel.y/vel_total; } // call velocity to acceleration controller get_loiter_velocity_to_acceleration(desired_vel.x, desired_vel.y, dt); } /// get_loiter_velocity_to_acceleration - loiter velocity controller /// converts desired velocities in lat/lon directions to accelerations in lat/lon frame void AC_WPNav::get_loiter_velocity_to_acceleration(float vel_lat, float vel_lon, float dt) { Vector3f vel_curr = _inav->get_velocity(); // current velocity in cm/s Vector3f vel_error; // The velocity error in cm/s. float accel_total; // total acceleration in cm/s/s // reset last velocity if this controller has just been engaged or dt is zero if( dt == 0.0 ) { desired_accel.x = 0; desired_accel.y = 0; } else { // feed forward desired acceleration calculation desired_accel.x = (vel_lat - _vel_last.x)/dt; desired_accel.y = (vel_lon - _vel_last.y)/dt; } // store this iteration's velocities for the next iteration _vel_last.x = vel_lat; _vel_last.y = vel_lon; // calculate velocity error vel_error.x = vel_lat - vel_curr.x; vel_error.y = vel_lon - vel_curr.y; // combine feed foward accel with PID outpu from velocity error desired_accel.x += _pid_rate_lat->get_pid(vel_error.x, dt); desired_accel.y += _pid_rate_lon->get_pid(vel_error.y, dt); // scale desired acceleration if it's beyond acceptable limit accel_total = safe_sqrt(desired_accel.x*desired_accel.x + desired_accel.y*desired_accel.y); if( accel_total > MAX_LOITER_VEL_ACCEL ) { desired_accel.x = MAX_LOITER_VEL_ACCEL * desired_accel.x/accel_total; desired_accel.y = MAX_LOITER_VEL_ACCEL * desired_accel.y/accel_total; } // call accel based controller with desired acceleration get_loiter_acceleration_to_lean_angles(desired_accel.x, desired_accel.y); } /// get_loiter_acceleration_to_lean_angles - loiter acceleration controller /// converts desired accelerations provided in lat/lon frame to roll/pitch angles void AC_WPNav::get_loiter_acceleration_to_lean_angles(float accel_lat, float accel_lon) { float z_accel_meas = -GRAVITY_MSS * 100; // gravity in cm/s/s float accel_forward; float accel_right; // To-Do: add 1hz filter to accel_lat, accel_lon // rotate accelerations into body forward-right frame accel_forward = accel_lat*_cos_yaw + accel_lon*_sin_yaw; accel_right = -accel_lat*_sin_yaw + accel_lon*_cos_yaw; // update angle targets that will be passed to stabilize controller _desired_roll = constrain_float((accel_right*_cos_pitch/(-z_accel_meas))*(18000/M_PI), -_lean_angle_max, _lean_angle_max); _desired_pitch = constrain_float((-accel_forward/(-z_accel_meas))*(18000/M_PI), -_lean_angle_max, _lean_angle_max); } // get_bearing_cd - return bearing in centi-degrees between two positions // To-Do: move this to math library float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const { float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * 5729.57795f; if (bearing < 0) { bearing += 36000; } return bearing; } /// reset_I - clears I terms from loiter PID controller void AC_WPNav::reset_I() { _pid_pos_lon->reset_I(); _pid_pos_lat->reset_I(); _pid_rate_lon->reset_I(); _pid_rate_lat->reset_I(); // set last velocity to current velocity _vel_last = _inav->get_velocity(); // reset target velocity - only used by loiter controller's interpretation of pilot input _target_vel.x = 0; _target_vel.y = 0; // reset limited speed to zero to slow initial acceleration _limited_speed_xy_cms = 0; } /// calculate_wp_leash_length - calculates horizontal and vertical leash lengths for waypoint controller void AC_WPNav::calculate_wp_leash_length(bool climb) { // get loiter position P float kP = _pid_pos_lat->kP(); // calculate horiztonal leash length if(_wp_speed_cms <= MAX_LOITER_POS_ACCEL / kP) { // linear leash length based on speed close in _wp_leash_xy = _wp_speed_cms / kP; }else{ // leash length grows at sqrt of speed further out _wp_leash_xy = (MAX_LOITER_POS_ACCEL / (2.0*kP*kP)) + (_wp_speed_cms*_wp_speed_cms / (2*MAX_LOITER_POS_ACCEL)); } // ensure leash is at least 1m long if( _wp_leash_xy < 100 ) { _wp_leash_xy = 100; } // calculate vertical leash length float speed_vert, leash_z; if( climb ) { speed_vert = _wp_speed_up_cms; }else{ speed_vert = _wp_speed_down_cms; } if(speed_vert <= WPNAV_ALT_HOLD_ACCEL_MAX / WPNAV_ALT_HOLD_P) { // linear leash length based on speed close in leash_z = speed_vert / WPNAV_ALT_HOLD_P; }else{ // leash length grows at sqrt of speed further out leash_z = (WPNAV_ALT_HOLD_ACCEL_MAX / (2.0*WPNAV_ALT_HOLD_P*WPNAV_ALT_HOLD_P)) + (speed_vert*speed_vert / (2*WPNAV_ALT_HOLD_ACCEL_MAX)); } // ensure leash is at least 1m long if( leash_z < 100 ) { leash_z = 100; } // calculate vertical track scale used to give altitude equal weighting to horizontal position _vert_track_scale = _wp_leash_xy / leash_z; }