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ardupilot/libraries/AP_Avoidance/AP_Avoidance.cpp

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#include "AP_Avoidance.h"
extern const AP_HAL::HAL& hal;
#include <limits>
#include <GCS_MAVLink/GCS.h>
#define AVOIDANCE_DEBUGGING 0
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define AP_AVOIDANCE_WARN_TIME_DEFAULT 30
#define AP_AVOIDANCE_FAIL_TIME_DEFAULT 30
#define AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT 1000
#define AP_AVOIDANCE_WARN_DISTANCE_Z_DEFAULT 300
#define AP_AVOIDANCE_FAIL_DISTANCE_XY_DEFAULT 300
#define AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT 100
#define AP_AVOIDANCE_RECOVERY_DEFAULT AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER
#define AP_AVOIDANCE_FAIL_ACTION_DEFAULT MAV_COLLISION_ACTION_REPORT
#else // APM_BUILD_TYPE(APM_BUILD_ArduCopter), Rover, Boat
#define AP_AVOIDANCE_WARN_TIME_DEFAULT 30
#define AP_AVOIDANCE_FAIL_TIME_DEFAULT 30
#define AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT 300
#define AP_AVOIDANCE_WARN_DISTANCE_Z_DEFAULT 300
#define AP_AVOIDANCE_FAIL_DISTANCE_XY_DEFAULT 100
#define AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT 100
#define AP_AVOIDANCE_RECOVERY_DEFAULT AP_AVOIDANCE_RECOVERY_RTL
#define AP_AVOIDANCE_FAIL_ACTION_DEFAULT MAV_COLLISION_ACTION_REPORT
#endif
#if AVOIDANCE_DEBUGGING
#include <stdio.h>
#define debug(fmt, args ...) do {::fprintf(stderr,"%s:%d: " fmt "\n", __FUNCTION__, __LINE__, ## args); } while(0)
#else
#define debug(fmt, args ...)
#endif
// table of user settable parameters
const AP_Param::GroupInfo AP_Avoidance::var_info[] = {
// @Param: ENABLE
// @DisplayName: Enable Avoidance using ADSB
// @Description: Enable Avoidance using ADSB
// @Values: 0:Disabled,1:Enabled
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLE", 1, AP_Avoidance, _enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: F_ACTION
// @DisplayName: Collision Avoidance Behavior
// @Description: Specifies aircraft behaviour when a collision is imminent
// The following values should come from the mavlink COLLISION_ACTION enum
// @Values: 0:None,1:Report,2:Climb Or Descend,3:Move Horizontally,4:Move Perpendicularly in 3D,5:RTL,6:Hover
// @User: Advanced
AP_GROUPINFO("F_ACTION", 2, AP_Avoidance, _fail_action, AP_AVOIDANCE_FAIL_ACTION_DEFAULT),
// @Param: W_ACTION
// @DisplayName: Collision Avoidance Behavior - Warn
// @Description: Specifies aircraft behaviour when a collision may occur
// The following values should come from the mavlink COLLISION_ACTION enum
// @Values: 0:None,1:Report
// @User: Advanced
AP_GROUPINFO("W_ACTION", 3, AP_Avoidance, _warn_action, MAV_COLLISION_ACTION_REPORT),
// @Param: F_RCVRY
// @DisplayName: Recovery behaviour after a fail event
// @Description: Determines what the aircraft will do after a fail event is resolved
// @Values: 0:Remain in AVOID_ADSB,1:Resume previous flight mode,2:RTL,3:Resume if AUTO else Loiter
// @User: Advanced
AP_GROUPINFO("F_RCVRY", 4, AP_Avoidance, _fail_recovery, AP_AVOIDANCE_RECOVERY_DEFAULT),
// @Param: OBS_MAX
// @DisplayName: Maximum number of obstacles to track
// @Description: Maximum number of obstacles to track
// @User: Advanced
AP_GROUPINFO("OBS_MAX", 5, AP_Avoidance, _obstacles_max, 20),
// @Param: W_TIME
// @DisplayName: Time Horizon Warn
// @Description: Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than W_DIST_XY or W_DIST_Z then W_ACTION is undertaken (assuming F_ACTION is not undertaken)
// @Units: s
// @User: Advanced
AP_GROUPINFO("W_TIME", 6, AP_Avoidance, _warn_time_horizon, AP_AVOIDANCE_WARN_TIME_DEFAULT),
// @Param: F_TIME
// @DisplayName: Time Horizon Fail
// @Description: Aircraft velocity vectors are multiplied by this time to determine closest approach. If this results in an approach closer than F_DIST_XY or F_DIST_Z then F_ACTION is undertaken
// @Units: s
// @User: Advanced
AP_GROUPINFO("F_TIME", 7, AP_Avoidance, _fail_time_horizon, AP_AVOIDANCE_FAIL_TIME_DEFAULT),
// @Param: W_DIST_XY
// @DisplayName: Distance Warn XY
// @Description: Closest allowed projected distance before W_ACTION is undertaken
// @Units: m
// @User: Advanced
AP_GROUPINFO("W_DIST_XY", 8, AP_Avoidance, _warn_distance_xy, AP_AVOIDANCE_WARN_DISTANCE_XY_DEFAULT),
// @Param: F_DIST_XY
// @DisplayName: Distance Fail XY
// @Description: Closest allowed projected distance before F_ACTION is undertaken
// @Units: m
// @User: Advanced
AP_GROUPINFO("F_DIST_XY", 9, AP_Avoidance, _fail_distance_xy, AP_AVOIDANCE_FAIL_DISTANCE_XY_DEFAULT),
// @Param: W_DIST_Z
// @DisplayName: Distance Warn Z
// @Description: Closest allowed projected distance before BEHAVIOUR_W is undertaken
// @Units: m
// @User: Advanced
AP_GROUPINFO("W_DIST_Z", 10, AP_Avoidance, _warn_distance_z, AP_AVOIDANCE_WARN_DISTANCE_Z_DEFAULT),
// @Param: F_DIST_Z
// @DisplayName: Distance Fail Z
// @Description: Closest allowed projected distance before BEHAVIOUR_F is undertaken
// @Units: m
// @User: Advanced
AP_GROUPINFO("F_DIST_Z", 11, AP_Avoidance, _fail_distance_z, AP_AVOIDANCE_FAIL_DISTANCE_Z_DEFAULT),
AP_GROUPEND
};
AP_Avoidance::AP_Avoidance(AP_AHRS &ahrs, AP_ADSB &adsb) :
_ahrs(ahrs),
_adsb(adsb)
{
AP_Param::setup_object_defaults(this, var_info);
}
/*
* Initialize variables and allocate memory for array
*/
void AP_Avoidance::init(void)
{
debug("ADSB initialisation: %d obstacles", _obstacles_max.get());
if (_obstacles == nullptr) {
_obstacles = new AP_Avoidance::Obstacle[_obstacles_max];
if (_obstacles == nullptr) {
// dynamic RAM allocation of _obstacles[] failed, disable gracefully
hal.console->printf("Unable to initialize Avoidance obstacle list\n");
// disable ourselves to avoid repeated allocation attempts
_enabled.set(0);
return;
}
_obstacles_allocated = _obstacles_max;
}
_obstacle_count = 0;
_last_state_change_ms = 0;
_threat_level = MAV_COLLISION_THREAT_LEVEL_NONE;
_gcs_cleared_messages_first_sent = std::numeric_limits<uint32_t>::max();
_current_most_serious_threat = -1;
}
/*
* de-initialize and free up some memory
*/
void AP_Avoidance::deinit(void)
{
if (_obstacles != nullptr) {
delete [] _obstacles;
_obstacles = nullptr;
_obstacles_allocated = 0;
handle_recovery(AP_AVOIDANCE_RECOVERY_RTL);
}
_obstacle_count = 0;
}
bool AP_Avoidance::check_startup()
{
if (!_enabled) {
if (_obstacles != nullptr) {
deinit();
}
// nothing to do
return false;
}
if (_obstacles == nullptr) {
init();
}
return _obstacles != nullptr;
}
// vel is north/east/down!
void AP_Avoidance::add_obstacle(const uint32_t obstacle_timestamp_ms,
const MAV_COLLISION_SRC src,
const uint32_t src_id,
const Location &loc,
const Vector3f &vel_ned)
{
if (! check_startup()) {
return;
}
uint32_t oldest_timestamp = std::numeric_limits<uint32_t>::max();
uint8_t oldest_index = 255; // avoid compiler warning with initialisation
int16_t index = -1;
uint8_t i;
for (i=0; i<_obstacle_count; i++) {
if (_obstacles[i].src_id == src_id &&
_obstacles[i].src == src) {
// pre-existing obstacle found; we will update its information
index = i;
break;
}
if (_obstacles[i].timestamp_ms < oldest_timestamp) {
oldest_timestamp = _obstacles[i].timestamp_ms;
oldest_index = i;
}
}
if (index == -1) {
// existing obstacle not found. See if we can store it anyway:
if (i <_obstacles_allocated) {
// have room to store more vehicles...
index = _obstacle_count++;
} else if (oldest_timestamp < obstacle_timestamp_ms) {
// replace this very old entry with this new data
index = oldest_index;
} else {
// no room for this (old?!) data
return;
}
_obstacles[index].src = src;
_obstacles[index].src_id = src_id;
}
_obstacles[index]._location = loc;
_obstacles[index]._velocity = vel_ned;
_obstacles[index].timestamp_ms = obstacle_timestamp_ms;
}
void AP_Avoidance::add_obstacle(const uint32_t obstacle_timestamp_ms,
const MAV_COLLISION_SRC src,
const uint32_t src_id,
const Location &loc,
const float cog,
const float hspeed,
const float vspeed)
{
Vector3f vel;
vel[0] = hspeed * cosf(radians(cog));
vel[1] = hspeed * sinf(radians(cog));
vel[2] = vspeed;
// debug("cog=%f hspeed=%f veln=%f vele=%f", cog, hspeed, vel[0], vel[1]);
return add_obstacle(obstacle_timestamp_ms, src, src_id, loc, vel);
}
uint32_t AP_Avoidance::src_id_for_adsb_vehicle(AP_ADSB::adsb_vehicle_t vehicle) const
{
// TODO: need to include squawk code and callsign
return vehicle.info.ICAO_address;
}
void AP_Avoidance::get_adsb_samples()
{
AP_ADSB::adsb_vehicle_t vehicle;
while (_adsb.next_sample(vehicle)) {
uint32_t src_id = src_id_for_adsb_vehicle(vehicle);
Location loc = _adsb.get_location(vehicle);
add_obstacle(vehicle.last_update_ms,
MAV_COLLISION_SRC_ADSB,
src_id,
loc,
vehicle.info.heading/100.0f,
vehicle.info.hor_velocity/100.0f,
-vehicle.info.ver_velocity/1000.0f); // convert mm-up to m-down
}
}
float closest_approach_xy(const Location &my_loc,
const Vector3f &my_vel,
const Location &obstacle_loc,
const Vector3f &obstacle_vel,
const uint8_t time_horizon)
{
Vector2f delta_vel_ne = Vector2f(obstacle_vel[0] - my_vel[0], obstacle_vel[1] - my_vel[1]);
Vector2f delta_pos_ne = location_diff(obstacle_loc, my_loc);
Vector2f line_segment_ne = delta_vel_ne * time_horizon;
float ret = Vector2<float>::closest_distance_between_radial_and_point
(line_segment_ne,
delta_pos_ne);
debug(" time_horizon: (%d)", time_horizon);
debug(" delta pos: (y=%f,x=%f)", delta_pos_ne[0], delta_pos_ne[1]);
debug(" delta vel: (y=%f,x=%f)", delta_vel_ne[0], delta_vel_ne[1]);
debug(" line segment: (y=%f,x=%f)", line_segment_ne[0], line_segment_ne[1]);
debug(" closest: (%f)", ret);
return ret;
}
// returns the closest these objects will get in the body z axis (in metres)
float closest_approach_z(const Location &my_loc,
const Vector3f &my_vel,
const Location &obstacle_loc,
const Vector3f &obstacle_vel,
const uint8_t time_horizon)
{
float delta_vel_d = obstacle_vel[2] - my_vel[2];
float delta_pos_d = obstacle_loc.alt - my_loc.alt;
float ret;
if (delta_pos_d >= 0 && delta_vel_d >= 0) {
ret = delta_pos_d;
} else if (delta_pos_d <= 0 && delta_vel_d <= 0) {
ret = fabs(delta_pos_d);
} else {
ret = fabs(delta_pos_d - delta_vel_d * time_horizon);
}
debug(" time_horizon: (%d)", time_horizon);
debug(" delta pos: (%f) metres", delta_pos_d/100.0f);
debug(" delta vel: (%f) m/s", delta_vel_d);
debug(" closest: (%f) metres", ret/100.0f);
return ret/100.0f;
}
void AP_Avoidance::update_threat_level(const Location &my_loc,
const Vector3f &my_vel,
AP_Avoidance::Obstacle &obstacle)
{
Location &obstacle_loc = obstacle._location;
Vector3f &obstacle_vel = obstacle._velocity;
obstacle.threat_level = MAV_COLLISION_THREAT_LEVEL_NONE;
const uint32_t obstacle_age = AP_HAL::millis() - obstacle.timestamp_ms;
float closest_xy = closest_approach_xy(my_loc, my_vel, obstacle_loc, obstacle_vel, _fail_time_horizon + obstacle_age/1000);
if (closest_xy < _fail_distance_xy) {
obstacle.threat_level = MAV_COLLISION_THREAT_LEVEL_HIGH;
} else {
closest_xy = closest_approach_xy(my_loc, my_vel, obstacle_loc, obstacle_vel, _warn_time_horizon + obstacle_age/1000);
if (closest_xy < _warn_distance_xy) {
obstacle.threat_level = MAV_COLLISION_THREAT_LEVEL_LOW;
}
}
// check for vertical separation; our threat level is the minimum
// of vertical and horizontal threat levels
float closest_z = closest_approach_z(my_loc, my_vel, obstacle_loc, obstacle_vel, _warn_time_horizon + obstacle_age/1000);
if (obstacle.threat_level != MAV_COLLISION_THREAT_LEVEL_NONE) {
if (closest_z > _warn_distance_z) {
obstacle.threat_level = MAV_COLLISION_THREAT_LEVEL_NONE;
} else {
closest_z = closest_approach_z(my_loc, my_vel, obstacle_loc, obstacle_vel, _fail_time_horizon + obstacle_age/1000);
if (closest_z > _fail_distance_z) {
obstacle.threat_level = MAV_COLLISION_THREAT_LEVEL_LOW;
}
}
}
// If we haven't heard from a vehicle then assume it is no threat
if (obstacle_age > MAX_OBSTACLE_AGE_MS) {
obstacle.threat_level = MAV_COLLISION_THREAT_LEVEL_NONE;
}
// could optimise this to not calculate a lot of this if threat
// level is none - but only *once the GCS has been informed*!
obstacle.closest_approach_xy = closest_xy;
obstacle.closest_approach_z = closest_z;
float current_distance = get_distance(my_loc, obstacle_loc);
obstacle.distance_to_closest_approach = current_distance - closest_xy;
Vector2f net_velocity_ne = Vector2f(my_vel[0] - obstacle_vel[0], my_vel[1] - obstacle_vel[1]);
obstacle.time_to_closest_approach = 0.0f;
if (!is_zero(obstacle.distance_to_closest_approach) &&
! is_zero(net_velocity_ne.length())) {
obstacle.time_to_closest_approach = obstacle.distance_to_closest_approach / net_velocity_ne.length();
}
}
MAV_COLLISION_THREAT_LEVEL AP_Avoidance::current_threat_level() const {
if (_obstacles == nullptr) {
return MAV_COLLISION_THREAT_LEVEL_NONE;
}
if (_current_most_serious_threat == -1) {
return MAV_COLLISION_THREAT_LEVEL_NONE;
}
return _obstacles[_current_most_serious_threat].threat_level;
}
void AP_Avoidance::handle_threat_gcs_notify(AP_Avoidance::Obstacle *threat)
{
if (threat == nullptr) {
return;
}
uint32_t now = AP_HAL::millis();
if (threat->threat_level == MAV_COLLISION_THREAT_LEVEL_NONE) {
// only send cleared messages for a few seconds:
if (_gcs_cleared_messages_first_sent == 0) {
_gcs_cleared_messages_first_sent = now;
}
if (now - _gcs_cleared_messages_first_sent > _gcs_cleared_messages_duration * 1000) {
return;
}
} else {
_gcs_cleared_messages_first_sent = 0;
}
if (now - threat->last_gcs_report_time > _gcs_notify_interval * 1000) {
GCS_MAVLINK::send_collision_all(*threat, mav_avoidance_action());
threat->last_gcs_report_time = now;
}
}
bool AP_Avoidance::obstacle_is_more_serious_threat(const AP_Avoidance::Obstacle &obstacle) const
{
if (_current_most_serious_threat == -1) {
// any threat is more of a threat than no threat
return true;
}
const AP_Avoidance::Obstacle &current = _obstacles[_current_most_serious_threat];
if (obstacle.threat_level > current.threat_level) {
// threat_level is updated by update_threat_level
return true;
}
if (obstacle.threat_level == current.threat_level &&
obstacle.time_to_closest_approach < current.time_to_closest_approach) {
return true;
}
return false;
}
void AP_Avoidance::check_for_threats()
{
Location my_loc;
if (!_ahrs.get_position(my_loc)) {
// if we don't know our own location we can't determine any threat level
return;
}
Vector3f my_vel;
if (!_ahrs.get_velocity_NED(my_vel)) {
// assuming our own velocity to be zero here may cause us to
// fly into something. Better not to attempt to avoid in this
// case.
return;
}
// we always check all obstacles to see if they are threats since it
// is most likely our own position and/or velocity have changed
// determine the current most-serious-threat
_current_most_serious_threat = -1;
for (uint8_t i=0; i<_obstacle_count; i++) {
AP_Avoidance::Obstacle &obstacle = _obstacles[i];
const uint32_t obstacle_age = AP_HAL::millis() - obstacle.timestamp_ms;
debug("i=%d src_id=%d timestamp=%u age=%d", i, obstacle.src_id, obstacle.timestamp_ms, obstacle_age);
update_threat_level(my_loc, my_vel, obstacle);
debug(" threat-level=%d", obstacle.threat_level);
// ignore any really old data:
if (obstacle_age > MAX_OBSTACLE_AGE_MS) {
// shrink list if this is the last entry:
if (i == _obstacle_count-1) {
_obstacle_count -= 1;
}
continue;
}
if (obstacle_is_more_serious_threat(obstacle)) {
_current_most_serious_threat = i;
}
}
if (_current_most_serious_threat != -1) {
debug("Current most serious threat: %d level=%d", _current_most_serious_threat, _obstacles[_current_most_serious_threat].threat_level);
}
}
AP_Avoidance::Obstacle *AP_Avoidance::most_serious_threat()
{
if (_current_most_serious_threat < 0) {
// we *really_ should not have been called!
return nullptr;
}
return &_obstacles[_current_most_serious_threat];
}
void AP_Avoidance::update()
{
if (!check_startup()) {
return;
}
if (_adsb.enabled()) {
get_adsb_samples();
}
check_for_threats();
// notify GCS of most serious thread
handle_threat_gcs_notify(most_serious_threat());
// avoid object (if necessary)
handle_avoidance_local(most_serious_threat());
}
void AP_Avoidance::handle_avoidance_local(AP_Avoidance::Obstacle *threat)
{
MAV_COLLISION_THREAT_LEVEL new_threat_level = MAV_COLLISION_THREAT_LEVEL_NONE;
MAV_COLLISION_ACTION action = MAV_COLLISION_ACTION_NONE;
if (threat != nullptr) {
new_threat_level = threat->threat_level;
if (new_threat_level == MAV_COLLISION_THREAT_LEVEL_HIGH) {
action = (MAV_COLLISION_ACTION)_fail_action.get();
}
}
uint32_t now = AP_HAL::millis();
if (new_threat_level != _threat_level) {
// transition to higher states immediately, recovery to lower states more slowly
if (((now - _last_state_change_ms) > AP_AVOIDANCE_STATE_RECOVERY_TIME_MS) || (new_threat_level > _threat_level)) {
// handle recovery from high threat level
if (_threat_level == MAV_COLLISION_THREAT_LEVEL_HIGH) {
handle_recovery(_fail_recovery);
_latest_action = MAV_COLLISION_ACTION_NONE;
}
// update state
_last_state_change_ms = now;
_threat_level = new_threat_level;
}
}
// handle ongoing threat by calling vehicle specific handler
if ((threat != nullptr) && (_threat_level == MAV_COLLISION_THREAT_LEVEL_HIGH) && (action > MAV_COLLISION_ACTION_REPORT)) {
_latest_action = handle_avoidance(threat, action);
}
}
void AP_Avoidance::handle_msg(const mavlink_message_t &msg)
{
if (!check_startup()) {
// avoidance is not active / allocated
return;
}
if (msg.msgid != MAVLINK_MSG_ID_GLOBAL_POSITION_INT) {
// we only take position from GLOBAL_POSITION_INT
return;
}
if (msg.sysid == mavlink_system.sysid) {
// we do not obstruct ourselves....
return;
}
// inform AP_Avoidance we have a new player
mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(&msg, &packet);
Location loc;
loc.lat = packet.lat;
loc.lng = packet.lon;
loc.alt = packet.alt / 10; // mm -> cm
loc.flags.relative_alt = false;
Vector3f vel = Vector3f(packet.vx/100.0f, // cm to m
packet.vy/100.0f,
packet.vz/100.0f);
add_obstacle(AP_HAL::millis(),
MAV_COLLISION_SRC_ADSB,
msg.sysid,
loc,
vel);
}
// get unit vector away from the nearest obstacle
bool AP_Avoidance::get_vector_perpendicular(const AP_Avoidance::Obstacle *obstacle, Vector3f &vec_neu)
{
if (obstacle == nullptr) {
// why where we called?!
return false;
}
Location my_abs_pos;
if (!_ahrs.get_position(my_abs_pos)) {
// we should not get to here! If we don't know our position
// we can't know if there are any threats, for starters!
return false;
}
// if their velocity is moving around close to zero then flying
// perpendicular to that velocity may mean we do weird things.
// Instead, we will fly directly away from them
if (obstacle->_velocity.length() < _low_velocity_threshold) {
const Vector2f delta_pos_xy = location_diff(obstacle->_location, my_abs_pos);
const float delta_pos_z = my_abs_pos.alt - obstacle->_location.alt;
Vector3f delta_pos_xyz = Vector3f(delta_pos_xy.x, delta_pos_xy.y, delta_pos_z);
// avoid div by zero
if (delta_pos_xyz.is_zero()) {
return false;
}
delta_pos_xyz.normalize();
vec_neu = delta_pos_xyz;
return true;
} else {
vec_neu = perpendicular_xyz(obstacle->_location, obstacle->_velocity, my_abs_pos);
// avoid div by zero
if (vec_neu.is_zero()) {
return false;
}
vec_neu.normalize();
return true;
}
}
// helper functions to calculate 3D destination to get us away from obstacle
// v1 is NED
Vector3f AP_Avoidance::perpendicular_xyz(const Location &p1, const Vector3f &v1, const Location &p2)
{
Vector2f delta_p_2d = location_diff(p1, p2);
Vector3f delta_p_xyz = Vector3f(delta_p_2d[0],delta_p_2d[1],(p2.alt-p1.alt)/100.0f); //check this line
Vector3f v1_xyz = Vector3f(v1[0], v1[1], -v1[2]);
Vector3f ret = Vector3f::perpendicular(delta_p_xyz, v1_xyz);
return ret;
}
// helper functions to calculate horizontal destination to get us away from obstacle
// v1 is NED
Vector2f AP_Avoidance::perpendicular_xy(const Location &p1, const Vector3f &v1, const Location &p2)
{
Vector2f delta_p = location_diff(p1, p2);
Vector2f delta_p_n = Vector2f(delta_p[0],delta_p[1]);
Vector2f v1n(v1[0],v1[1]);
Vector2f ret_xy = Vector2f::perpendicular(delta_p_n, v1n);
return ret_xy;
}
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