mirror of https://github.com/ArduPilot/ardupilot
151 lines
3.8 KiB
C++
151 lines
3.8 KiB
C++
/*
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Soaring Controller class by Samuel Tabor
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Provides a layer between the thermal centring algorithm and the main
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code for managing navigation targets, data logging, tuning parameters,
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algorithm inputs and eventually other soaring strategies such as
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speed-to-fly. AP_TECS library used for reference.
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*/
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#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_Param/AP_Param.h>
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#include <AP_Math/AP_Math.h>
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#include "ExtendedKalmanFilter.h"
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#include "Variometer.h"
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#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
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#ifndef HAL_SOARING_ENABLED
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#define HAL_SOARING_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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#if HAL_SOARING_ENABLED
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#define INITIAL_THERMAL_RADIUS 80.0
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#define INITIAL_STRENGTH_COVARIANCE 0.0049
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#define INITIAL_RADIUS_COVARIANCE 400.0
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#define INITIAL_POSITION_COVARIANCE 400.0
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class SoaringController {
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ExtendedKalmanFilter _ekf{};
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AP_SpdHgtControl &_spdHgt;
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Variometer _vario;
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const AP_Vehicle::FixedWing &_aparm;
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// store aircraft location at last update
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Vector3f _prev_update_location;
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// store time thermal was entered for hysteresis
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uint64_t _thermal_start_time_us;
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// store position thermal was entered as a backup check
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Vector3f _thermal_start_pos;
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// store time cruise was entered for hysteresis
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uint64_t _cruise_start_time_us;
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// store time of last update
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uint64_t _prev_update_time;
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bool _throttle_suppressed;
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float McCready(float alt);
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float _thermalability;
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LowPassFilter<float> _position_x_filter{1/60.0};
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LowPassFilter<float> _position_y_filter{1/60.0};
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protected:
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AP_Int8 soar_active;
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AP_Float thermal_vspeed;
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AP_Float thermal_q1;
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AP_Float thermal_q2;
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AP_Float thermal_r;
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AP_Float thermal_distance_ahead;
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AP_Int16 min_thermal_s;
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AP_Int16 min_cruise_s;
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AP_Float polar_CD0;
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AP_Float polar_B;
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AP_Float polar_K;
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AP_Float alt_max;
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AP_Float alt_min;
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AP_Float alt_cutoff;
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AP_Float max_drift;
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AP_Float thermal_bank;
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public:
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SoaringController(AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms);
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enum class LoiterStatus {
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DISABLED,
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ALT_TOO_HIGH,
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ALT_TOO_LOW,
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THERMAL_WEAK,
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ALT_LOST,
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DRIFT_EXCEEDED,
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GOOD_TO_KEEP_LOITERING,
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EXIT_COMMANDED,
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};
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enum class ActiveStatus {
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SOARING_DISABLED,
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MANUAL_MODE_CHANGE,
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AUTO_MODE_CHANGE
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};
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AP_Float max_radius;
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// this supports the TECS_* user settable parameters
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static const struct AP_Param::GroupInfo var_info[];
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void get_target(Location & wp);
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bool suppress_throttle();
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bool check_thermal_criteria();
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LoiterStatus check_cruise_criteria(Vector2f prev_wp, Vector2f next_wp);
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void init_thermalling();
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void init_cruising();
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void update_thermalling();
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void update_cruising();
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void set_throttle_suppressed(bool suppressed);
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bool get_throttle_suppressed() const
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{
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return _throttle_suppressed;
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}
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float get_vario_reading() const
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{
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return _vario.get_displayed_value();
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}
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void update_vario();
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bool check_drift(Vector2f prev_wp, Vector2f next_wp);
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void update_active_state(bool override_disable);
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bool is_active() const {return _last_update_status>=SoaringController::ActiveStatus::MANUAL_MODE_CHANGE;};
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void set_pilot_desired_state(ActiveStatus pilot_desired_state) {_pilot_desired_state = pilot_desired_state;};
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float get_alt_cutoff() const {return alt_cutoff;}
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float get_circling_time() const {return _vario.tau;}
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float get_thermalling_radius() const;
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private:
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ActiveStatus _last_update_status;
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ActiveStatus _pilot_desired_state = ActiveStatus::AUTO_MODE_CHANGE;
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ActiveStatus active_state(bool override_disable) const;
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bool _exit_commanded;
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};
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#endif // HAL_SOARING_ENABLED
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