mirror of https://github.com/ArduPilot/ardupilot
113 lines
4.3 KiB
C++
113 lines
4.3 KiB
C++
#include "Copter.h"
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#if AP_RANGEFINDER_ENABLED
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// update_surface_offset - manages the vertical offset of the position controller to follow the measured ground or ceiling
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// level measured using the range finder.
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void Copter::SurfaceTracking::update_surface_offset()
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{
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// check for timeout
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const uint32_t now_ms = millis();
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const bool timeout = (now_ms - last_update_ms) > SURFACE_TRACKING_TIMEOUT_MS;
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// check tracking state and that range finders are healthy
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if (((surface == Surface::GROUND) && copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0)) ||
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((surface == Surface::CEILING) && copter.rangefinder_up_ok() && (copter.rangefinder_up_state.glitch_count == 0))) {
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// Get the appropriate surface distance state, the terrain offset is calculated in the surface distance lib.
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AP_SurfaceDistance &rf_state = (surface == Surface::GROUND) ? copter.rangefinder_state : copter.rangefinder_up_state;
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// update position controller target offset to the surface's alt above the EKF origin
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copter.pos_control->set_pos_offset_target_z_cm(rf_state.terrain_offset_cm);
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last_update_ms = now_ms;
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valid_for_logging = true;
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// reset target altitude if this controller has just been engaged
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// target has been changed between upwards vs downwards
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// or glitch has cleared
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if (timeout ||
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reset_target ||
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(last_glitch_cleared_ms != rf_state.glitch_cleared_ms)) {
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copter.pos_control->set_pos_offset_z_cm(rf_state.terrain_offset_cm);
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reset_target = false;
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last_glitch_cleared_ms = rf_state.glitch_cleared_ms;
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}
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} else {
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// reset position controller offsets if surface tracking is inactive
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// flag target should be reset when/if it next becomes active
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if (timeout) {
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copter.pos_control->set_pos_offset_z_cm(0);
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copter.pos_control->set_pos_offset_target_z_cm(0);
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reset_target = true;
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}
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}
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}
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// get target altitude (in cm) above ground
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// returns true if there is a valid target
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bool Copter::SurfaceTracking::get_target_alt_cm(float &target_alt_cm) const
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{
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// fail if we are not tracking downwards
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if (surface != Surface::GROUND) {
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return false;
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}
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// check target has been updated recently
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if (AP_HAL::millis() - last_update_ms > SURFACE_TRACKING_TIMEOUT_MS) {
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return false;
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}
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target_alt_cm = (copter.pos_control->get_pos_target_z_cm() - copter.pos_control->get_pos_offset_z_cm());
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return true;
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}
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// set target altitude (in cm) above ground
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void Copter::SurfaceTracking::set_target_alt_cm(float _target_alt_cm)
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{
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// fail if we are not tracking downwards
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if (surface != Surface::GROUND) {
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return;
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}
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copter.pos_control->set_pos_offset_z_cm(copter.inertial_nav.get_position_z_up_cm() - _target_alt_cm);
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last_update_ms = AP_HAL::millis();
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}
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bool Copter::SurfaceTracking::get_target_dist_for_logging(float &target_dist) const
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{
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if (!valid_for_logging || (surface == Surface::NONE)) {
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return false;
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}
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const float dir = (surface == Surface::GROUND) ? 1.0f : -1.0f;
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target_dist = dir * (copter.pos_control->get_pos_target_z_cm() - copter.pos_control->get_pos_offset_z_cm()) * 0.01f;
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return true;
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}
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float Copter::SurfaceTracking::get_dist_for_logging() const
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{
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return ((surface == Surface::CEILING) ? copter.rangefinder_up_state.alt_cm : copter.rangefinder_state.alt_cm) * 0.01f;
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}
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// set direction
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void Copter::SurfaceTracking::set_surface(Surface new_surface)
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{
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if (surface == new_surface) {
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return;
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}
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// check we have a range finder in the correct direction
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if ((new_surface == Surface::GROUND) && !copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
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copter.gcs().send_text(MAV_SEVERITY_WARNING, "SurfaceTracking: no downward rangefinder");
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AP_Notify::events.user_mode_change_failed = 1;
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return;
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}
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if ((new_surface == Surface::CEILING) && !copter.rangefinder.has_orientation(ROTATION_PITCH_90)) {
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copter.gcs().send_text(MAV_SEVERITY_WARNING, "SurfaceTracking: no upward rangefinder");
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AP_Notify::events.user_mode_change_failed = 1;
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return;
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}
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surface = new_surface;
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reset_target = true;
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}
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#endif // AP_RANGEFINDER_ENABLED
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