ardupilot/ArduSub/mode_auto.cpp

570 lines
21 KiB
C++

#include "Sub.h"
/*
* control_auto.cpp
* Contains the mission, waypoint navigation and NAV_CMD item implementation
*
* While in the auto flight mode, navigation or do/now commands can be run.
* Code in this file implements the navigation commands
*/
bool ModeAuto::init(bool ignore_checks) {
if (!sub.position_ok() || sub.mission.num_commands() < 2) {
return false;
}
sub.auto_mode = Auto_Loiter;
// stop ROI from carrying over from previous runs of the mission
// To-Do: reset the yaw as part of auto_wp_start when the previous command was not a wp command to remove the need for this special ROI check
if (sub.auto_yaw_mode == AUTO_YAW_ROI) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// initialise waypoint controller
sub.wp_nav.wp_and_spline_init();
// clear guided limits
guided_limit_clear();
// start/resume the mission (based on MIS_RESTART parameter)
sub.mission.start_or_resume();
return true;
}
// auto_run - runs the appropriate auto controller
// according to the current auto_mode
void ModeAuto::run()
{
sub.mission.update();
// call the correct auto controller
switch (sub.auto_mode) {
case Auto_WP:
case Auto_CircleMoveToEdge:
auto_wp_run();
break;
case Auto_Circle:
auto_circle_run();
break;
case Auto_NavGuided:
#if NAV_GUIDED == ENABLED
auto_nav_guided_run();
#endif
break;
case Auto_Loiter:
auto_loiter_run();
break;
case Auto_TerrainRecover:
auto_terrain_recover_run();
break;
}
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
void ModeAuto::auto_wp_start(const Vector3f& destination)
{
sub.auto_mode = Auto_WP;
// initialise wpnav (no need to check return status because terrain data is not used)
sub.wp_nav.set_wp_destination(destination, false);
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (sub.auto_yaw_mode != AUTO_YAW_ROI) {
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
}
// auto_wp_start - initialises waypoint controller to implement flying to a particular destination
void ModeAuto::auto_wp_start(const Location& dest_loc)
{
sub.auto_mode = Auto_WP;
// send target to waypoint controller
if (!sub.wp_nav.set_wp_destination_loc(dest_loc)) {
// failure to set destination can only be because of missing terrain data
sub.failsafe_terrain_on_event();
return;
}
// initialise yaw
// To-Do: reset the yaw only when the previous navigation command is not a WP. this would allow removing the special check for ROI
if (sub.auto_yaw_mode != AUTO_YAW_ROI) {
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
}
}
// auto_wp_run - runs the auto waypoint controller
// called by auto_run at 100hz or more
void ModeAuto::auto_wp_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
// To-Do: reset waypoint origin to current location because vehicle is probably on the ground so we don't want it lurching left or right on take-off
// (of course it would be better if people just used take-off)
// call attitude controller
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.wp_nav.wp_and_spline_init(); // Reset xy target
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!sub.failsafe.pilot_input) {
// get pilot's desired yaw rate
target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
if (!is_zero(target_yaw_rate)) {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run waypoint controller
// TODO logic for terrain tracking target going below fence limit
// TODO implement waypoint radius individually for each waypoint based on cmd.p2
// TODO fix auto yaw heading to switch to something appropriate when mission complete and switches to loiter
sub.failsafe_terrain_set_status(sub.wp_nav.update_wpnav());
///////////////////////
// update xy outputs //
float lateral_out, forward_out;
sub.translate_wpnav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
// WP_Nav has set the vertical position control targets
// run the vertical position controller and set output throttle
position_control->update_z_controller();
////////////////////////////
// update attitude output //
// get pilot desired lean angles
float target_roll, target_pitch;
sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);
// call attitude controller
if (sub.auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch & yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
} else {
// roll, pitch from pilot, yaw heading from auto_heading()
attitude_control->input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, get_auto_heading(), true);
}
}
// auto_circle_movetoedge_start - initialise waypoint controller to move to edge of a circle with it's center at the specified location
// we assume the caller has set the circle's circle with sub.circle_nav.set_center()
// we assume the caller has performed all required GPS_ok checks
void ModeAuto::auto_circle_movetoedge_start(const Location &circle_center, float radius_m, bool ccw_turn)
{
// set circle center
sub.circle_nav.set_center(circle_center);
// set circle radius
if (!is_zero(radius_m)) {
sub.circle_nav.set_radius_cm(radius_m * 100.0f);
}
// set circle direction by using rate
float current_rate = sub.circle_nav.get_rate();
current_rate = ccw_turn ? -fabsf(current_rate) : fabsf(current_rate);
sub.circle_nav.set_rate(current_rate);
// check our distance from edge of circle
Vector3f circle_edge_neu;
sub.circle_nav.get_closest_point_on_circle(circle_edge_neu);
float dist_to_edge = (inertial_nav.get_position_neu_cm() - circle_edge_neu).length();
// if more than 3m then fly to edge
if (dist_to_edge > 300.0f) {
// set the state to move to the edge of the circle
sub.auto_mode = Auto_CircleMoveToEdge;
// convert circle_edge_neu to Location
Location circle_edge(circle_edge_neu, Location::AltFrame::ABOVE_ORIGIN);
// convert altitude to same as command
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
// initialise wpnav to move to edge of circle
if (!sub.wp_nav.set_wp_destination_loc(circle_edge)) {
// failure to set destination can only be because of missing terrain data
sub.failsafe_terrain_on_event();
}
// if we are outside the circle, point at the edge, otherwise hold yaw
float dist_to_center = get_horizontal_distance_cm(inertial_nav.get_position_xy_cm().topostype(), sub.circle_nav.get_center().xy());
if (dist_to_center > sub.circle_nav.get_radius() && dist_to_center > 500) {
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
} else {
// vehicle is within circle so hold yaw to avoid spinning as we move to edge of circle
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
} else {
auto_circle_start();
}
}
// auto_circle_start - initialises controller to fly a circle in AUTO flight mode
// assumes that circle_nav object has already been initialised with circle center and radius
void ModeAuto::auto_circle_start()
{
sub.auto_mode = Auto_Circle;
// initialise circle controller
sub.circle_nav.init(sub.circle_nav.get_center(), sub.circle_nav.center_is_terrain_alt(), sub.circle_nav.get_rate());
}
// auto_circle_run - circle in AUTO flight mode
// called by auto_run at 100hz or more
void ModeAuto::auto_circle_run()
{
// call circle controller
sub.failsafe_terrain_set_status(sub.circle_nav.update());
float lateral_out, forward_out;
sub.translate_circle_nav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
// WP_Nav has set the vertical position control targets
// run the vertical position controller and set output throttle
position_control->update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), sub.circle_nav.get_yaw(), true);
}
#if NAV_GUIDED == ENABLED
// auto_nav_guided_start - hand over control to external navigation controller in AUTO mode
void ModeAuto::auto_nav_guided_start()
{
sub.mode_guided.init(true);
sub.auto_mode = Auto_NavGuided;
// initialise guided start time and position as reference for limit checking
sub.mode_auto.guided_limit_init_time_and_pos();
}
// auto_nav_guided_run - allows control by external navigation controller
// called by auto_run at 100hz or more
void ModeAuto::auto_nav_guided_run()
{
// call regular guided flight mode run function
sub.mode_guided.run();
}
#endif // NAV_GUIDED
// auto_loiter_start - initialises loitering in auto mode
// returns success/failure because this can be called by exit_mission
bool ModeAuto::auto_loiter_start()
{
// return failure if GPS is bad
if (!sub.position_ok()) {
return false;
}
sub.auto_mode = Auto_Loiter;
// calculate stopping point
Vector3f stopping_point;
sub.wp_nav.get_wp_stopping_point(stopping_point);
// initialise waypoint controller target to stopping point
sub.wp_nav.set_wp_destination(stopping_point);
// hold yaw at current heading
set_auto_yaw_mode(AUTO_YAW_HOLD);
return true;
}
// auto_loiter_run - loiter in AUTO flight mode
// called by auto_run at 100hz or more
void ModeAuto::auto_loiter_run()
{
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
// Sub vehicles do not stabilize roll/pitch/yaw when disarmed
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.wp_nav.wp_and_spline_init(); // Reset xy target
return;
}
// accept pilot input of yaw
float target_yaw_rate = 0;
if (!sub.failsafe.pilot_input) {
target_yaw_rate = sub.get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
// run waypoint and z-axis position controller
sub.failsafe_terrain_set_status(sub.wp_nav.update_wpnav());
///////////////////////
// update xy outputs //
float lateral_out, forward_out;
sub.translate_wpnav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
// WP_Nav has set the vertical position control targets
// run the vertical position controller and set output throttle
position_control->update_z_controller();
// get pilot desired lean angles
float target_roll, target_pitch;
sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);
// roll & pitch & yaw rate from pilot
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
}
// set_auto_yaw_look_at_heading - sets the yaw look at heading for auto mode
void ModeAuto::set_auto_yaw_look_at_heading(float angle_deg, float turn_rate_dps, int8_t direction, uint8_t relative_angle)
{
// get current yaw
int32_t curr_yaw_target = attitude_control->get_att_target_euler_cd().z;
// get final angle, 1 = Relative, 0 = Absolute
if (relative_angle == 0) {
// absolute angle
sub.yaw_look_at_heading = wrap_360_cd(angle_deg * 100);
} else {
// relative angle
if (direction < 0) {
angle_deg = -angle_deg;
}
sub.yaw_look_at_heading = wrap_360_cd((angle_deg * 100 + curr_yaw_target));
}
// get turn speed
if (is_zero(turn_rate_dps)) {
// default to regular auto slew rate
sub.yaw_look_at_heading_slew = AUTO_YAW_SLEW_RATE;
} else {
sub.yaw_look_at_heading_slew = MIN(turn_rate_dps, AUTO_YAW_SLEW_RATE); // deg / sec
}
// set yaw mode
set_auto_yaw_mode(AUTO_YAW_LOOK_AT_HEADING);
// TO-DO: restore support for clockwise and counter clockwise rotation held in cmd.content.yaw.direction. 1 = clockwise, -1 = counterclockwise
}
// sets the desired yaw rate
void ModeAuto::set_yaw_rate(float turn_rate_dps)
{
// set sub to desired yaw rate
sub.yaw_look_at_heading_slew = MIN(turn_rate_dps, AUTO_YAW_SLEW_RATE); // deg / sec
// set yaw mode
set_auto_yaw_mode(AUTO_YAW_RATE);
}
// set_auto_yaw_roi - sets the yaw to look at roi for auto mode
void ModeAuto::set_auto_yaw_roi(const Location &roi_location)
{
// if location is zero lat, lon and altitude turn off ROI
if (roi_location.alt == 0 && roi_location.lat == 0 && roi_location.lng == 0) {
// set auto yaw mode back to default assuming the active command is a waypoint command. A more sophisticated method is required to ensure we return to the proper yaw control for the active command
set_auto_yaw_mode(get_default_auto_yaw_mode(false));
#if HAL_MOUNT_ENABLED
// switch off the camera tracking if enabled
sub.camera_mount.clear_roi_target();
#endif // HAL_MOUNT_ENABLED
} else {
#if HAL_MOUNT_ENABLED
// check if mount type requires us to rotate the sub
if (!sub.camera_mount.has_pan_control()) {
if (roi_location.get_vector_from_origin_NEU(sub.roi_WP)) {
set_auto_yaw_mode(AUTO_YAW_ROI);
}
}
// send the command to the camera mount
sub.camera_mount.set_roi_target(roi_location);
// TO-DO: expand handling of the do_nav_roi to support all modes of the MAVLink. Currently we only handle mode 4 (see below)
// 0: do nothing
// 1: point at next waypoint
// 2: point at a waypoint taken from WP# parameter (2nd parameter?)
// 3: point at a location given by alt, lon, lat parameters
// 4: point at a target given a target id (can't be implemented)
#else
// if we have no camera mount aim the sub at the location
if (roi_location.get_vector_from_origin_NEU(sub.roi_WP)) {
set_auto_yaw_mode(AUTO_YAW_ROI);
}
#endif // HAL_MOUNT_ENABLED
}
}
// Return true if it is possible to recover from a rangefinder failure
bool ModeAuto::auto_terrain_recover_start()
{
// Check rangefinder status to see if recovery is possible
switch (sub.rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::Status::OutOfRangeLow:
case RangeFinder::Status::OutOfRangeHigh:
// RangeFinder::Good if just one valid sample was obtained recently, but ::rangefinder_state.alt_healthy
// requires several consecutive valid readings for wpnav to accept rangefinder data
case RangeFinder::Status::Good:
sub.auto_mode = Auto_TerrainRecover;
break;
// Not connected or no data
default:
return false; // Rangefinder is not connected, or has stopped responding
}
// Initialize recovery timeout time
sub.fs_terrain_recover_start_ms = AP_HAL::millis();
// Stop mission
sub.mission.stop();
// Reset xy target
sub.loiter_nav.clear_pilot_desired_acceleration();
sub.loiter_nav.init_target();
// Reset z axis controller
position_control->relax_z_controller(motors.get_throttle_hover());
// initialize vertical maximum speeds and acceleration
position_control->set_max_speed_accel_z(sub.wp_nav.get_default_speed_down(), sub.wp_nav.get_default_speed_up(), sub.wp_nav.get_accel_z());
position_control->set_correction_speed_accel_z(sub.wp_nav.get_default_speed_down(), sub.wp_nav.get_default_speed_up(), sub.wp_nav.get_accel_z());
gcs().send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery");
return true;
}
// Attempt recovery from terrain failsafe
// If recovery is successful resume mission
// If recovery fails revert to failsafe action
void ModeAuto::auto_terrain_recover_run()
{
float target_climb_rate = 0;
static uint32_t rangefinder_recovery_ms = 0;
// if not armed set throttle to zero and exit immediately
if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
sub.loiter_nav.init_target(); // Reset xy target
position_control->relax_z_controller(motors.get_throttle_hover()); // Reset z axis controller
return;
}
switch (sub.rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::Status::OutOfRangeLow:
target_climb_rate = sub.wp_nav.get_default_speed_up();
rangefinder_recovery_ms = 0;
break;
case RangeFinder::Status::OutOfRangeHigh:
target_climb_rate = sub.wp_nav.get_default_speed_down();
rangefinder_recovery_ms = 0;
break;
case RangeFinder::Status::Good: // exit on success (recovered rangefinder data)
target_climb_rate = 0; // Attempt to hold current depth
if (sub.rangefinder_state.alt_healthy) {
// Start timer as soon as rangefinder is healthy
if (rangefinder_recovery_ms == 0) {
rangefinder_recovery_ms = AP_HAL::millis();
position_control->relax_z_controller(motors.get_throttle_hover()); // Reset alt hold targets
}
// 1.5 seconds of healthy rangefinder means we can resume mission with terrain enabled
if (AP_HAL::millis() > rangefinder_recovery_ms + 1500) {
gcs().send_text(MAV_SEVERITY_INFO, "Terrain failsafe recovery successful!");
sub.failsafe_terrain_set_status(true); // Reset failsafe timers
sub.failsafe.terrain = false; // Clear flag
sub.auto_mode = Auto_Loiter; // Switch back to loiter for next iteration
sub.mission.resume(); // Resume mission
rangefinder_recovery_ms = 0; // Reset for subsequent recoveries
}
}
break;
// Not connected, or no data
default:
// Terrain failsafe recovery has failed, terrain data is not available
// and rangefinder is not connected, or has stopped responding
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery failure: No Rangefinder!");
sub.failsafe_terrain_act();
rangefinder_recovery_ms = 0;
return;
}
// exit on failure (timeout)
if (AP_HAL::millis() > sub.fs_terrain_recover_start_ms + FS_TERRAIN_RECOVER_TIMEOUT_MS) {
// Recovery has failed, revert to failsafe action
gcs().send_text(MAV_SEVERITY_CRITICAL, "Terrain failsafe recovery timeout!");
sub.failsafe_terrain_act();
}
// run loiter controller
sub.loiter_nav.update();
///////////////////////
// update xy targets //
float lateral_out, forward_out;
sub.translate_wpnav_rp(lateral_out, forward_out);
// Send to forward/lateral outputs
motors.set_lateral(lateral_out);
motors.set_forward(forward_out);
/////////////////////
// update z target //
position_control->set_pos_target_z_from_climb_rate_cm(target_climb_rate);
position_control->update_z_controller();
////////////////////////////
// update angular targets //
float target_roll = 0;
float target_pitch = 0;
// convert pilot input to lean angles
// To-Do: convert sub.get_pilot_desired_lean_angles to return angles as floats
sub.get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, sub.aparm.angle_max);
float target_yaw_rate = 0;
// call attitude controller
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
}