mirror of https://github.com/ArduPilot/ardupilot
452 lines
17 KiB
C++
452 lines
17 KiB
C++
#include "Plane.h"
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/*
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reset the total loiter angle
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*/
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void Plane::loiter_angle_reset(void)
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{
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loiter.sum_cd = 0;
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loiter.total_cd = 0;
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loiter.reached_target_alt = false;
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loiter.unable_to_acheive_target_alt = false;
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}
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/*
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update the total angle we have covered in a loiter. Used to support
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commands to do N circles of loiter
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*/
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void Plane::loiter_angle_update(void)
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{
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static const int32_t lap_check_interval_cd = 3*36000;
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const int32_t target_bearing_cd = nav_controller->target_bearing_cd();
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int32_t loiter_delta_cd;
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const bool reached_target = reached_loiter_target();
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if (loiter.sum_cd == 0 && !reached_target) {
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// we don't start summing until we are doing the real loiter
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loiter_delta_cd = 0;
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} else if (loiter.sum_cd == 0) {
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// use 1 cd for initial delta
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loiter_delta_cd = 1;
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loiter.start_lap_alt_cm = current_loc.alt;
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loiter.next_sum_lap_cd = lap_check_interval_cd;
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} else {
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loiter_delta_cd = target_bearing_cd - loiter.old_target_bearing_cd;
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}
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loiter.old_target_bearing_cd = target_bearing_cd;
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loiter_delta_cd = wrap_180_cd(loiter_delta_cd);
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loiter.sum_cd += loiter_delta_cd * loiter.direction;
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bool reached_target_alt = false;
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if (reached_target) {
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// once we reach the position target we start checking the
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// altitude target
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bool terrain_status_ok = false;
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#if AP_TERRAIN_AVAILABLE
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/*
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if doing terrain following then we check against terrain
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target, fetch the terrain information
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*/
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float altitude_agl = 0;
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if (target_altitude.terrain_following) {
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if (terrain.status() == AP_Terrain::TerrainStatusOK &&
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terrain.height_above_terrain(altitude_agl, true)) {
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terrain_status_ok = true;
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}
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}
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if (terrain_status_ok &&
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fabsf(altitude_agl - target_altitude.terrain_alt_cm*0.01) < 5) {
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reached_target_alt = true;
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} else
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#endif
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if (!terrain_status_ok && labs(current_loc.alt - target_altitude.amsl_cm) < 500) {
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reached_target_alt = true;
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}
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}
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if (reached_target_alt) {
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loiter.reached_target_alt = true;
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loiter.unable_to_acheive_target_alt = false;
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loiter.next_sum_lap_cd = loiter.sum_cd + lap_check_interval_cd;
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} else if (!loiter.reached_target_alt && labs(loiter.sum_cd) >= loiter.next_sum_lap_cd) {
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// check every few laps for scenario where up/downdrafts inhibit you from loitering up/down for too long
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loiter.unable_to_acheive_target_alt = labs(current_loc.alt - loiter.start_lap_alt_cm) < 500;
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loiter.start_lap_alt_cm = current_loc.alt;
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loiter.next_sum_lap_cd += lap_check_interval_cd;
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}
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}
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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void Plane::navigate()
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{
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// do not navigate with corrupt data
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// ---------------------------------
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if (!have_position) {
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return;
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}
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if (next_WP_loc.lat == 0 && next_WP_loc.lng == 0) {
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return;
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}
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// waypoint distance from plane
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// ----------------------------
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auto_state.wp_distance = current_loc.get_distance(next_WP_loc);
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auto_state.wp_proportion = current_loc.line_path_proportion(prev_WP_loc, next_WP_loc);
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TECS_controller.set_path_proportion(auto_state.wp_proportion);
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// update total loiter angle
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loiter_angle_update();
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// control mode specific updates to navigation demands
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// ---------------------------------------------------
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control_mode->navigate();
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}
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// method intended for use in calc_airspeed_errors only
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float Plane::mode_auto_target_airspeed_cm()
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{
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#if HAL_QUADPLANE_ENABLED
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if (quadplane.landing_with_fixed_wing_spiral_approach() &&
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((vtol_approach_s.approach_stage == Landing_ApproachStage::APPROACH_LINE) ||
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(vtol_approach_s.approach_stage == Landing_ApproachStage::VTOL_LANDING))) {
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const float land_airspeed = TECS_controller.get_land_airspeed();
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if (is_positive(land_airspeed)) {
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return land_airspeed * 100;
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}
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// fallover to normal airspeed
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return aparm.airspeed_cruise_cm;
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}
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if (quadplane.in_vtol_land_approach()) {
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return quadplane.get_land_airspeed() * 100;
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}
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#endif
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// normal AUTO mode and new_airspeed variable was set by
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// DO_CHANGE_SPEED command while in AUTO mode
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if (new_airspeed_cm > 0) {
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return new_airspeed_cm;
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}
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// fallover to normal airspeed
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return aparm.airspeed_cruise_cm;
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}
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void Plane::calc_airspeed_errors()
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{
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// Get the airspeed_estimate, update smoothed airspeed estimate
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// NOTE: we use the airspeed estimate function not direct sensor
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// as TECS may be using synthetic airspeed
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float airspeed_measured = 0.1;
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if (ahrs.airspeed_estimate(airspeed_measured)) {
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smoothed_airspeed = MAX(0.1, smoothed_airspeed * 0.8f + airspeed_measured * 0.2f);
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}
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// low pass filter speed scaler, with 1Hz cutoff, at 10Hz
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const float speed_scaler = calc_speed_scaler();
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const float cutoff_Hz = 2.0;
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const float dt = 0.1;
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surface_speed_scaler += calc_lowpass_alpha_dt(dt, cutoff_Hz) * (speed_scaler - surface_speed_scaler);
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// FBW_B/cruise airspeed target
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if (!failsafe.rc_failsafe && (control_mode == &mode_fbwb || control_mode == &mode_cruise)) {
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if (g2.flight_options & FlightOptions::CRUISE_TRIM_AIRSPEED) {
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target_airspeed_cm = aparm.airspeed_cruise_cm;
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} else if (g2.flight_options & FlightOptions::CRUISE_TRIM_THROTTLE) {
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float control_min = 0.0f;
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float control_mid = 0.0f;
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const float control_max = channel_throttle->get_range();
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const float control_in = get_throttle_input();
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switch (channel_throttle->get_type()) {
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case RC_Channel::ControlType::ANGLE:
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control_min = -control_max;
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break;
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case RC_Channel::ControlType::RANGE:
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control_mid = channel_throttle->get_control_mid();
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break;
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}
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if (control_in <= control_mid) {
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target_airspeed_cm = linear_interpolate(aparm.airspeed_min * 100, aparm.airspeed_cruise_cm,
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control_in,
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control_min, control_mid);
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} else {
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target_airspeed_cm = linear_interpolate(aparm.airspeed_cruise_cm, aparm.airspeed_max * 100,
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control_in,
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control_mid, control_max);
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}
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} else {
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target_airspeed_cm = ((int32_t)(aparm.airspeed_max - aparm.airspeed_min) *
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get_throttle_input()) + ((int32_t)aparm.airspeed_min * 100);
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}
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#if OFFBOARD_GUIDED == ENABLED
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} else if (control_mode == &mode_guided && guided_state.target_airspeed_cm > 0.0) { // if offbd guided speed change cmd not set, then this section is skipped
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// offboard airspeed demanded
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uint32_t now = AP_HAL::millis();
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float delta = 1e-3f * (now - guided_state.target_airspeed_time_ms);
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guided_state.target_airspeed_time_ms = now;
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float delta_amt = 100 * delta * guided_state.target_airspeed_accel;
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target_airspeed_cm += delta_amt;
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//target_airspeed_cm recalculated then clamped to between MIN airspeed and MAX airspeed by constrain_float
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if (is_positive(guided_state.target_airspeed_accel)) {
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target_airspeed_cm = constrain_float(MIN(guided_state.target_airspeed_cm, target_airspeed_cm), aparm.airspeed_min *100, aparm.airspeed_max *100);
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} else {
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target_airspeed_cm = constrain_float(MAX(guided_state.target_airspeed_cm, target_airspeed_cm), aparm.airspeed_min *100, aparm.airspeed_max *100);
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}
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#endif // OFFBOARD_GUIDED == ENABLED
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#if HAL_SOARING_ENABLED
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} else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
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if (control_mode == &mode_thermal) {
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float arspd = g2.soaring_controller.get_thermalling_target_airspeed();
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if (arspd > 0) {
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target_airspeed_cm = arspd * 100;
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} else {
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target_airspeed_cm = aparm.airspeed_cruise_cm;
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}
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} else if (control_mode == &mode_auto) {
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float arspd = g2.soaring_controller.get_cruising_target_airspeed();
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if (arspd > 0) {
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target_airspeed_cm = arspd * 100;
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} else {
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target_airspeed_cm = aparm.airspeed_cruise_cm;
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}
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}
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#endif
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} else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
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// Landing airspeed target
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target_airspeed_cm = landing.get_target_airspeed_cm();
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} else if (control_mode == &mode_guided && new_airspeed_cm > 0) { //DO_CHANGE_SPEED overrides onboard guided speed commands, user would have re-enter guided mode to revert
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target_airspeed_cm = new_airspeed_cm;
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} else if (control_mode == &mode_auto) {
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target_airspeed_cm = mode_auto_target_airspeed_cm();
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#if HAL_QUADPLANE_ENABLED
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} else if (control_mode == &mode_qrtl && quadplane.in_vtol_land_approach()) {
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target_airspeed_cm = quadplane.get_land_airspeed() * 100;
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#endif
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} else {
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// Normal airspeed target for all other cases
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target_airspeed_cm = aparm.airspeed_cruise_cm;
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}
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// Set target to current airspeed + ground speed undershoot,
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// but only when this is faster than the target airspeed commanded
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// above.
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if (control_mode->does_auto_throttle() &&
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aparm.min_gndspeed_cm > 0 &&
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control_mode != &mode_circle) {
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int32_t min_gnd_target_airspeed = airspeed_measured*100 + groundspeed_undershoot;
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if (min_gnd_target_airspeed > target_airspeed_cm) {
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target_airspeed_cm = min_gnd_target_airspeed;
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}
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}
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// when using the special GUIDED mode features for slew control, don't allow airspeed nudging as it doesn't play nicely.
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#if OFFBOARD_GUIDED == ENABLED
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if (control_mode == &mode_guided && !is_zero(guided_state.target_airspeed_cm) && (airspeed_nudge_cm != 0)) {
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airspeed_nudge_cm = 0; //airspeed_nudge_cm forced to zero
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}
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#endif
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// Bump up the target airspeed based on throttle nudging
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if (control_mode->allows_throttle_nudging() && airspeed_nudge_cm > 0) {
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target_airspeed_cm += airspeed_nudge_cm;
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}
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// Apply airspeed limit
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target_airspeed_cm = constrain_int32(target_airspeed_cm, aparm.airspeed_min*100, aparm.airspeed_max*100);
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// use the TECS view of the target airspeed for reporting, to take
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// account of the landing speed
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airspeed_error = TECS_controller.get_target_airspeed() - airspeed_measured;
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}
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void Plane::calc_gndspeed_undershoot()
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{
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// Use the component of ground speed in the forward direction
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// This prevents flyaway if wind takes plane backwards
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if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
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Vector2f gndVel = ahrs.groundspeed_vector();
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const Matrix3f &rotMat = ahrs.get_rotation_body_to_ned();
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Vector2f yawVect = Vector2f(rotMat.a.x,rotMat.b.x);
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if (!yawVect.is_zero()) {
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yawVect.normalize();
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float gndSpdFwd = yawVect * gndVel;
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groundspeed_undershoot = (aparm.min_gndspeed_cm > 0) ? (aparm.min_gndspeed_cm - gndSpdFwd*100) : 0;
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}
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} else {
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groundspeed_undershoot = 0;
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}
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}
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// method intended to be used by update_loiter
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void Plane::update_loiter_update_nav(uint16_t radius)
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{
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#if HAL_QUADPLANE_ENABLED
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if (loiter.start_time_ms != 0 &&
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quadplane.guided_mode_enabled()) {
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if (!auto_state.vtol_loiter) {
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auto_state.vtol_loiter = true;
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// reset loiter start time, so we don't consider the point
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// reached till we get much closer
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loiter.start_time_ms = 0;
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quadplane.guided_start();
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}
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return;
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}
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#endif
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#if HAL_QUADPLANE_ENABLED
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const bool quadplane_qrtl_switch = (control_mode == &mode_rtl && quadplane.available() && quadplane.rtl_mode == QuadPlane::RTL_MODE::SWITCH_QRTL);
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#else
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const bool quadplane_qrtl_switch = false;
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#endif
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if ((loiter.start_time_ms == 0 &&
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(control_mode == &mode_auto || control_mode == &mode_guided) &&
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auto_state.crosstrack &&
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current_loc.get_distance(next_WP_loc) > radius*3) ||
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quadplane_qrtl_switch) {
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/*
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if never reached loiter point and using crosstrack and somewhat far away from loiter point
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navigate to it like in auto-mode for normal crosstrack behavior
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we also use direct waypoint navigation if we are a quadplane
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that is going to be switching to QRTL when it gets within
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RTL_RADIUS
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*/
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nav_controller->update_waypoint(prev_WP_loc, next_WP_loc);
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return;
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}
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nav_controller->update_loiter(next_WP_loc, radius, loiter.direction);
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}
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void Plane::update_loiter(uint16_t radius)
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{
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if (radius <= 1) {
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// if radius is <=1 then use the general loiter radius. if it's small, use default
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radius = (abs(aparm.loiter_radius) <= 1) ? LOITER_RADIUS_DEFAULT : abs(aparm.loiter_radius);
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if (next_WP_loc.loiter_ccw == 1) {
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loiter.direction = -1;
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} else {
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loiter.direction = (aparm.loiter_radius < 0) ? -1 : 1;
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}
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}
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update_loiter_update_nav(radius);
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if (loiter.start_time_ms == 0) {
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if (reached_loiter_target() ||
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auto_state.wp_proportion > 1) {
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// we've reached the target, start the timer
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loiter.start_time_ms = millis();
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if (control_mode->is_guided_mode()) {
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// starting a loiter in GUIDED means we just reached the target point
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gcs().send_mission_item_reached_message(0);
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}
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#if HAL_QUADPLANE_ENABLED
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if (quadplane.guided_mode_enabled()) {
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quadplane.guided_start();
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}
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#endif
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}
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}
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}
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/*
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handle speed and height control in FBWB, CRUISE, and optionally, LOITER mode.
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In this mode the elevator is used to change target altitude. The
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throttle is used to change target airspeed or throttle
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*/
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void Plane::update_fbwb_speed_height(void)
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{
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uint32_t now = micros();
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if (now - target_altitude.last_elev_check_us >= 100000) {
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// we don't run this on every loop as it would give too small granularity on quadplanes at 300Hz, and
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// give below 1cm altitude change, which would result in no climb or descent
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float dt = (now - target_altitude.last_elev_check_us) * 1.0e-6;
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dt = constrain_float(dt, 0.1, 0.15);
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target_altitude.last_elev_check_us = now;
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float elevator_input = channel_pitch->get_control_in() * (1/4500.0);
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if (g.flybywire_elev_reverse) {
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elevator_input = -elevator_input;
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}
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int32_t alt_change_cm = g.flybywire_climb_rate * elevator_input * dt * 100;
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change_target_altitude(alt_change_cm);
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if (is_zero(elevator_input) && !is_zero(target_altitude.last_elevator_input)) {
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// the user has just released the elevator, lock in
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// the current altitude
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set_target_altitude_current();
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}
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#if HAL_SOARING_ENABLED
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if (g2.soaring_controller.is_active()) {
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if (g2.soaring_controller.get_throttle_suppressed()) {
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// we're in soaring mode with throttle suppressed
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set_target_altitude_current();
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} else {
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// we're in soaring mode climbing back to altitude. Set target to SOAR_ALT_CUTOFF plus 10m to ensure we positively climb
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// through SOAR_ALT_CUTOFF, thus triggering throttle suppression and return to glide.
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target_altitude.amsl_cm = 100*plane.g2.soaring_controller.get_alt_cutoff() + 1000 + AP::ahrs().get_home().alt;
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}
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}
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#endif
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target_altitude.last_elevator_input = elevator_input;
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}
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check_fbwb_minimum_altitude();
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altitude_error_cm = calc_altitude_error_cm();
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calc_throttle();
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calc_nav_pitch();
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}
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/*
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calculate the turn angle for the next leg of the mission
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*/
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void Plane::setup_turn_angle(void)
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{
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int32_t next_ground_course_cd = mission.get_next_ground_course_cd(-1);
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if (next_ground_course_cd == -1) {
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// the mission library can't determine a turn angle, assume 90 degrees
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auto_state.next_turn_angle = 90.0f;
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} else {
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// get the heading of the current leg
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int32_t ground_course_cd = prev_WP_loc.get_bearing_to(next_WP_loc);
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// work out the angle we need to turn through
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auto_state.next_turn_angle = wrap_180_cd(next_ground_course_cd - ground_course_cd) * 0.01f;
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}
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}
|
|
|
|
/*
|
|
see if we have reached our loiter target
|
|
*/
|
|
bool Plane::reached_loiter_target(void)
|
|
{
|
|
#if HAL_QUADPLANE_ENABLED
|
|
if (quadplane.in_vtol_auto()) {
|
|
return auto_state.wp_distance < 3;
|
|
}
|
|
#endif
|
|
return nav_controller->reached_loiter_target();
|
|
}
|