ardupilot/ArduCopter/control_rtl.cpp

490 lines
17 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Copter.h"
/*
* control_rtl.pde - init and run calls for RTL flight mode
*
* There are two parts to RTL, the high level decision making which controls which state we are in
* and the lower implementation of the waypoint or landing controllers within those states
*/
// rtl_init - initialise rtl controller
bool Copter::rtl_init(bool ignore_checks)
{
if (position_ok() || ignore_checks) {
rtl_build_path();
rtl_climb_start();
return true;
}else{
return false;
}
}
// rtl_run - runs the return-to-launch controller
// should be called at 100hz or more
void Copter::rtl_run()
{
// check if we need to move to next state
if (rtl_state_complete) {
switch (rtl_state) {
case RTL_InitialClimb:
rtl_return_start();
break;
case RTL_ReturnHome:
rtl_loiterathome_start();
break;
case RTL_LoiterAtHome:
if (rtl_path.land || failsafe.radio) {
rtl_land_start();
}else{
rtl_descent_start();
}
break;
case RTL_FinalDescent:
// do nothing
break;
case RTL_Land:
// do nothing - rtl_land_run will take care of disarming motors
break;
}
}
// call the correct run function
switch (rtl_state) {
case RTL_InitialClimb:
rtl_climb_return_run();
break;
case RTL_ReturnHome:
rtl_climb_return_run();
break;
case RTL_LoiterAtHome:
rtl_loiterathome_run();
break;
case RTL_FinalDescent:
rtl_descent_run();
break;
case RTL_Land:
rtl_land_run();
break;
}
}
// rtl_climb_start - initialise climb to RTL altitude
void Copter::rtl_climb_start()
{
rtl_state = RTL_InitialClimb;
rtl_state_complete = false;
// initialise waypoint and spline controller
wp_nav.wp_and_spline_init();
// RTL_SPEED == 0 means use WPNAV_SPEED
if (!is_zero(g.rtl_speed_cms)) {
wp_nav.set_speed_xy(g.rtl_speed_cms);
}
// set the destination
wp_nav.set_wp_destination(rtl_path.climb_target);
wp_nav.set_fast_waypoint(true);
// hold current yaw during initial climb
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// rtl_return_start - initialise return to home
void Copter::rtl_return_start()
{
rtl_state = RTL_ReturnHome;
rtl_state_complete = false;
wp_nav.set_wp_destination(rtl_path.return_target);
// initialise yaw to point home (maybe)
set_auto_yaw_mode(get_default_auto_yaw_mode(true));
}
// rtl_climb_return_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller
// called by rtl_run at 100hz or more
void Copter::rtl_climb_return_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// reset attitude control targets
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// To-Do: re-initialise wpnav targets
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->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::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_wpnav();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
}
// check if we've completed this stage of RTL
rtl_state_complete = wp_nav.reached_wp_destination();
}
// rtl_return_start - initialise return to home
void Copter::rtl_loiterathome_start()
{
rtl_state = RTL_LoiterAtHome;
rtl_state_complete = false;
rtl_loiter_start_time = millis();
// yaw back to initial take-off heading yaw unless pilot has already overridden yaw
if(get_default_auto_yaw_mode(true) != AUTO_YAW_HOLD) {
set_auto_yaw_mode(AUTO_YAW_RESETTOARMEDYAW);
} else {
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
}
// rtl_climb_return_descent_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller
// called by rtl_run at 100hz or more
void Copter::rtl_loiterathome_run()
{
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
// reset attitude control targets
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// To-Do: re-initialise wpnav targets
return;
}
// process pilot's yaw input
float target_yaw_rate = 0;
if (!failsafe.radio) {
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->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::DESIRED_THROTTLE_UNLIMITED);
// run waypoint controller
wp_nav.update_wpnav();
// call z-axis position controller (wpnav should have already updated it's alt target)
pos_control.update_z_controller();
// call attitude controller
if (auto_yaw_mode == AUTO_YAW_HOLD) {
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
}else{
// roll, pitch from waypoint controller, yaw heading from auto_heading()
attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true);
}
// check if we've completed this stage of RTL
if ((millis() - rtl_loiter_start_time) >= (uint32_t)g.rtl_loiter_time.get()) {
if (auto_yaw_mode == AUTO_YAW_RESETTOARMEDYAW) {
// check if heading is within 2 degrees of heading when vehicle was armed
if (labs(wrap_180_cd(ahrs.yaw_sensor-initial_armed_bearing)) <= 200) {
rtl_state_complete = true;
}
} else {
// we have loitered long enough
rtl_state_complete = true;
}
}
}
// rtl_descent_start - initialise descent to final alt
void Copter::rtl_descent_start()
{
rtl_state = RTL_FinalDescent;
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.init_loiter_target(wp_nav.get_wp_destination());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// rtl_descent_run - implements the final descent to the RTL_ALT
// called by rtl_run at 100hz or more
void Copter::rtl_descent_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// set target to current position
wp_nav.init_loiter_target();
return;
}
// process pilot's input
if (!failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = channel_roll->control_in;
pitch_control = channel_pitch->control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// process roll, pitch inputs
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call z-axis position controller
pos_control.set_alt_target_with_slew(rtl_path.descent_target.z, G_Dt);
pos_control.update_z_controller();
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// check if we've reached within 20cm of final altitude
rtl_state_complete = fabsf(rtl_path.descent_target.z - inertial_nav.get_altitude()) < 20.0f;
}
// rtl_loiterathome_start - initialise controllers to loiter over home
void Copter::rtl_land_start()
{
rtl_state = RTL_Land;
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.init_loiter_target(wp_nav.get_wp_destination());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
// initialise yaw
set_auto_yaw_mode(AUTO_YAW_HOLD);
}
// rtl_returnhome_run - return home
// called by rtl_run at 100hz or more
void Copter::rtl_land_run()
{
int16_t roll_control = 0, pitch_control = 0;
float target_yaw_rate = 0;
// if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw_smooth(0, 0, 0, get_smoothing_gain());
attitude_control.set_throttle_out(0,false,g.throttle_filt);
#else
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
// multicopters do not stabilize roll/pitch/yaw when disarmed
attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
#endif
// set target to current position
wp_nav.init_loiter_target();
#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
// disarm when the landing detector says we've landed and throttle is at minimum
if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
init_disarm_motors();
}
#else
// disarm when the landing detector says we've landed
if (ap.land_complete) {
init_disarm_motors();
}
#endif
// check if we've completed this stage of RTL
rtl_state_complete = ap.land_complete;
return;
}
// relax loiter target if we might be landed
if (ap.land_complete_maybe) {
wp_nav.loiter_soften_for_landing();
}
// process pilot's input
if (!failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
}
}
if (g.land_repositioning) {
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
// process pilot's roll and pitch input
roll_control = channel_roll->control_in;
pitch_control = channel_pitch->control_in;
}
// get pilot's desired yaw rate
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->control_in);
}
// set motors to full range
motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// process pilot's roll and pitch input
wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
// run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
// call z-axis position controller
float cmb_rate = get_land_descent_speed();
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller();
// record desired climb rate for logging
desired_climb_rate = cmb_rate;
// roll & pitch from waypoint controller, yaw rate from pilot
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
// check if we've completed this stage of RTL
rtl_state_complete = ap.land_complete;
}
void Copter::rtl_build_path()
{
// origin point is our stopping point
pos_control.get_stopping_point_xy(rtl_path.origin_point);
pos_control.get_stopping_point_z(rtl_path.origin_point);
// set return target to nearest rally point or home position
#if AC_RALLY == ENABLED
Location rally_point = rally.calc_best_rally_or_home_location(current_loc, 0);
rtl_path.return_target = pv_location_to_vector(rally_point);
#else
rtl_path.return_target = pv_location_to_vector(ahrs.get_home());
#endif
Vector3f return_vector = rtl_path.return_target-rtl_path.origin_point;
float rtl_return_dist = pythagorous2(return_vector.x, return_vector.y);
// compute return altitude
rtl_path.return_target.z = rtl_compute_return_alt_above_origin(rtl_return_dist);
// climb target is above our origin point at the return altitude
rtl_path.climb_target.x = rtl_path.origin_point.x;
rtl_path.climb_target.y = rtl_path.origin_point.y;
rtl_path.climb_target.z = rtl_path.return_target.z;
// descent target is below return target at rtl_alt_final
rtl_path.descent_target.x = rtl_path.return_target.x;
rtl_path.descent_target.y = rtl_path.return_target.y;
rtl_path.descent_target.z = pv_alt_above_origin(g.rtl_alt_final);
// set land flag
rtl_path.land = g.rtl_alt_final <= 0;
}
// return altitude in cm above origin at which vehicle should return home
float Copter::rtl_compute_return_alt_above_origin(float rtl_return_dist)
{
// maximum of current altitude + climb_min and rtl altitude
float ret = MAX(current_loc.alt + MAX(0, g.rtl_climb_min), MAX(g.rtl_altitude, RTL_ALT_MIN));
if (g.rtl_cone_slope >= RTL_MIN_CONE_SLOPE) { // don't allow really shallow slopes
ret = MAX(current_loc.alt, MIN(ret, MAX(rtl_return_dist*g.rtl_cone_slope, current_loc.alt+RTL_ABS_MIN_CLIMB)));
}
#if AC_FENCE == ENABLED
// ensure not above fence altitude if alt fence is enabled
if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
ret = MIN(ret, fence.get_safe_alt()*100.0f);
}
#endif
#if AC_RALLY == ENABLED
// rally_point.alt will be the altitude of the nearest rally point or the RTL_ALT. uses absolute altitudes
Location rally_point = rally.calc_best_rally_or_home_location(current_loc, ret+ahrs.get_home().alt);
rally_point.alt -= ahrs.get_home().alt; // convert to altitude above home
rally_point.alt = MAX(rally_point.alt, current_loc.alt); // ensure we do not descend before reaching home
ret = rally_point.alt;
#endif
return pv_alt_above_origin(ret);
}