#pragma once #include #include #include #include const float AR_WPNAV_HEADING_UNKNOWN = 99999.0f; // used to indicate to set_desired_location method that next leg's heading is unknown class AR_WPNav { public: // constructor AR_WPNav(AR_AttitudeControl& atc, AP_Navigation& nav_controller); // update navigation void update(float dt); // return desired speed float get_desired_speed() const { return _desired_speed; } // set desired speed in m/s void set_desired_speed(float speed) { _desired_speed = MAX(speed, 0.0f); } // restore desired speed to default from parameter value void set_desired_speed_to_default() { _desired_speed = _speed_max; } // execute the mission in reverse (i.e. drive backwards to destination) bool get_reversed() const { return _reversed; } void set_reversed(bool reversed) { _reversed = reversed; } // get navigation outputs for speed (in m/s) and turn rate (in rad/sec) float get_speed() const { return _desired_speed_limited; } float get_turn_rate_rads() const { return _desired_turn_rate_rads; } // get desired lateral acceleration (for reporting purposes only because will be zero during pivot turns) float get_lat_accel() const { return _desired_lat_accel; } // set desired location // next_leg_bearing_cd should be heading to the following waypoint (used to slow the vehicle in order to make the turn) bool set_desired_location(const struct Location& destination, float next_leg_bearing_cd = AR_WPNAV_HEADING_UNKNOWN) WARN_IF_UNUSED; // set desired location to a reasonable stopping point, return true on success bool set_desired_location_to_stopping_location() WARN_IF_UNUSED; // set desired location as offset from the EKF origin, return true on success bool set_desired_location_NED(const Vector3f& destination, float next_leg_bearing_cd = AR_WPNAV_HEADING_UNKNOWN) WARN_IF_UNUSED; // true if vehicle has reached desired location. defaults to true because this is normally used by missions and we do not want the mission to become stuck bool reached_destination() const { return _reached_destination; } // return distance (in meters) to destination float get_distance_to_destination() const { return _distance_to_destination; } // return true if destination is valid bool is_destination_valid() const { return _orig_and_dest_valid; } // get current destination. Note: this is not guaranteed to be valid (i.e. _orig_and_dest_valid is not checked) const Location &get_destination() { return _destination; } // get object avoidance adjusted destination. Note: this is not guaranteed to be valid (i.e. _orig_and_dest_valid is not checked) const Location &get_oa_destination() { return _oa_destination; } // return heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message) float wp_bearing_cd() const { return _wp_bearing_cd; } float nav_bearing_cd() const { return _desired_heading_cd; } float crosstrack_error() const { return _cross_track_error; } // return the heading (in centi-degrees) to the next waypoint accounting for OA, (used by sailboats) float oa_wp_bearing_cd() const { return _oa_wp_bearing_cd; } // settor to allow vehicle code to provide turn related param values to this library (should be updated regularly) void set_turn_params(float turn_max_g, float turn_radius, bool pivot_possible); // accessors for parameter values float get_default_speed() const { return _speed_max; } float get_radius() const { return _radius; } float get_pivot_rate() const { return _pivot_rate; } // calculate stopping location using current position and attitude controller provided maximum deceleration // returns true on success, false on failure bool get_stopping_location(Location& stopping_loc) WARN_IF_UNUSED; // parameter var table static const struct AP_Param::GroupInfo var_info[]; private: // true if update has been called recently bool is_active() const; // update distance and bearing from vehicle's current position to destination void update_distance_and_bearing_to_destination(); // calculate steering output to drive along line from origin to destination waypoint // relies on update_distance_and_bearing_to_destination being called first void update_steering(const Location& current_loc, float current_speed); // calculated desired speed(in m/s) based on yaw error and lateral acceleration and/or distance to a waypoint // relies on update_distance_and_bearing_to_destination and update_steering being run so these internal members // have been updated: _wp_bearing_cd, _cross_track_error, _distance_to_destination void update_desired_speed(float dt); // returns true if vehicle should pivot turn at next waypoint bool use_pivot_steering_at_next_WP(float yaw_error_cd) const; // returns true if vehicle should pivot immediately (because heading error is too large) bool use_pivot_steering(float yaw_error_cd); // adjust speed to ensure it does not fall below value held in SPEED_MIN void apply_speed_min(float &desired_speed); private: // parameters AP_Float _speed_max; // target speed between waypoints in m/s AP_Float _speed_min; // target speed minimum in m/s. Vehicle will not slow below this speed for corners AP_Float _radius; // distance in meters from a waypoint when we consider the waypoint has been reached AP_Float _overshoot; // maximum horizontal overshoot in meters AP_Int16 _pivot_angle; // angle error that leads to pivot turn AP_Int16 _pivot_rate; // desired turn rate during pivot turns in deg/sec // references AR_AttitudeControl& _atc; // rover attitude control library AP_Navigation& _nav_controller; // navigation controller (aka L1 controller) // variables held in vehicle code (for now) float _turn_max_mss; // lateral acceleration maximum in m/s/s float _turn_radius; // vehicle turn radius in meters bool _pivot_possible; // true if vehicle can pivot bool _pivot_active; // true if vehicle is currently pivoting // variables for navigation uint32_t _last_update_ms; // system time of last call to update Location _origin; // origin Location (vehicle will travel from the origin to the destination) Location _destination; // destination Location when in Guided_WP bool _orig_and_dest_valid; // true if the origin and destination have been set bool _reversed; // execute the mission by backing up float _desired_speed_final; // desired speed in m/s when we reach the destination // main outputs from navigation library float _desired_speed; // desired speed in m/s float _desired_speed_limited; // desired speed (above) but accel/decel limited and reduced to keep vehicle within _overshoot of line float _desired_turn_rate_rads; // desired turn-rate in rad/sec (negative is counter clockwise, positive is clockwise) float _desired_lat_accel; // desired lateral acceleration (for reporting only) float _desired_heading_cd; // desired heading (back towards line between origin and destination) float _wp_bearing_cd; // heading to waypoint in centi-degrees float _cross_track_error; // cross track error (in meters). distance from current position to closest point on line between origin and destination // variables for reporting float _distance_to_destination; // distance from vehicle to final destination in meters bool _reached_destination; // true once the vehicle has reached the destination // object avoidance variables bool _oa_active; // true if we should use alternative destination to avoid obstacles Location _oa_origin; // intermediate origin during avoidance Location _oa_destination; // intermediate destination during avoidance float _oa_distance_to_destination; // OA (object avoidance) distance from vehicle to _oa_destination in meters float _oa_wp_bearing_cd; // OA adjusted heading to _oa_destination in centi-degrees };