ardupilot/libraries/AC_WPNav/AC_Circle.cpp

261 lines
9.2 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL/AP_HAL.h>
#include "AC_Circle.h"
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AC_Circle::var_info[] = {
// @Param: RADIUS
// @DisplayName: Circle Radius
// @Description: Defines the radius of the circle the vehicle will fly when in Circle flight mode
// @Units: cm
// @Range: 0 10000
// @Increment: 100
// @User: Standard
AP_GROUPINFO("RADIUS", 0, AC_Circle, _radius, AC_CIRCLE_RADIUS_DEFAULT),
// @Param: RATE
// @DisplayName: Circle rate
// @Description: Circle mode's turn rate in deg/sec. Positive to turn clockwise, negative for counter clockwise
// @Units: deg/s
// @Range: -90 90
// @Increment: 1
// @User: Standard
AP_GROUPINFO("RATE", 1, AC_Circle, _rate, AC_CIRCLE_RATE_DEFAULT),
AP_GROUPEND
};
// Default constructor.
// Note that the Vector/Matrix constructors already implicitly zero
// their values.
//
AC_Circle::AC_Circle(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosControl& pos_control) :
_inav(inav),
_ahrs(ahrs),
_pos_control(pos_control),
_last_update(0),
_yaw(0.0f),
_angle(0.0f),
_angle_total(0.0f),
_angular_vel(0.0f),
_angular_vel_max(0.0f),
_angular_accel(0.0f)
{
AP_Param::setup_object_defaults(this, var_info);
// init flags
_flags.panorama = false;
}
/// init - initialise circle controller setting center specifically
/// caller should set the position controller's x,y and z speeds and accelerations before calling this
void AC_Circle::init(const Vector3f& center)
{
_center = center;
// initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
_pos_control.init_xy_controller();
// set initial position target to reasonable stopping point
_pos_control.set_target_to_stopping_point_xy();
_pos_control.set_target_to_stopping_point_z();
// calculate velocities
calc_velocities(true);
// set start angle from position
init_start_angle(false);
}
/// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
/// caller should set the position controller's x,y and z speeds and accelerations before calling this
void AC_Circle::init()
{
// initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
_pos_control.init_xy_controller();
// set initial position target to reasonable stopping point
_pos_control.set_target_to_stopping_point_xy();
_pos_control.set_target_to_stopping_point_z();
// get stopping point
const Vector3f& stopping_point = _pos_control.get_pos_target();
// set circle center to circle_radius ahead of stopping point
_center.x = stopping_point.x + _radius * _ahrs.cos_yaw();
_center.y = stopping_point.y + _radius * _ahrs.sin_yaw();
_center.z = stopping_point.z;
// calculate velocities
calc_velocities(true);
// set starting angle from vehicle heading
init_start_angle(true);
}
/// set_circle_rate - set circle rate in degrees per second
void AC_Circle::set_rate(float deg_per_sec)
{
if (!is_equal(deg_per_sec,_rate)) {
_rate = deg_per_sec;
calc_velocities(false);
}
}
/// update - update circle controller
void AC_Circle::update()
{
// calculate dt
float dt = _pos_control.time_since_last_xy_update();
// update circle position at poscontrol update rate
if (dt >= _pos_control.get_dt_xy()) {
// double check dt is reasonable
if (dt >= 0.2f) {
dt = 0.0f;
}
// ramp angular velocity to maximum
if (_angular_vel < _angular_vel_max) {
_angular_vel += fabsf(_angular_accel) * dt;
_angular_vel = MIN(_angular_vel, _angular_vel_max);
}
if (_angular_vel > _angular_vel_max) {
_angular_vel -= fabsf(_angular_accel) * dt;
_angular_vel = MAX(_angular_vel, _angular_vel_max);
}
// update the target angle and total angle traveled
float angle_change = _angular_vel * dt;
_angle += angle_change;
_angle = wrap_PI(_angle);
_angle_total += angle_change;
// if the circle_radius is zero we are doing panorama so no need to update loiter target
if (!is_zero(_radius)) {
// calculate target position
Vector3f target;
target.x = _center.x + _radius * cosf(-_angle);
target.y = _center.y - _radius * sinf(-_angle);
target.z = _pos_control.get_alt_target();
// update position controller target
_pos_control.set_xy_target(target.x, target.y);
// heading is 180 deg from vehicles target position around circle
_yaw = wrap_PI(_angle-M_PI) * AC_CIRCLE_DEGX100;
}else{
// set target position to center
Vector3f target;
target.x = _center.x;
target.y = _center.y;
target.z = _pos_control.get_alt_target();
// update position controller target
_pos_control.set_xy_target(target.x, target.y);
// heading is same as _angle but converted to centi-degrees
_yaw = _angle * AC_CIRCLE_DEGX100;
}
// update position controller
_pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f, false);
}
}
// get_closest_point_on_circle - returns closest point on the circle
// circle's center should already have been set
// closest point on the circle will be placed in result
// result's altitude (i.e. z) will be set to the circle_center's altitude
// if vehicle is at the center of the circle, the edge directly behind vehicle will be returned
void AC_Circle::get_closest_point_on_circle(Vector3f &result)
{
// return center if radius is zero
if (_radius <= 0) {
result = _center;
return;
}
// get current position
const Vector3f &curr_pos = _inav.get_position();
// calc vector from current location to circle center
Vector2f vec; // vector from circle center to current location
vec.x = (curr_pos.x - _center.x);
vec.y = (curr_pos.y - _center.y);
float dist = pythagorous2(vec.x, vec.y);
// if current location is exactly at the center of the circle return edge directly behind vehicle
if (is_zero(dist)) {
result.x = _center.x - _radius * _ahrs.cos_yaw();
result.y = _center.y - _radius * _ahrs.sin_yaw();
result.z = _center.z;
return;
}
// calculate closest point on edge of circle
result.x = _center.x + vec.x / dist * _radius;
result.y = _center.y + vec.y / dist * _radius;
result.z = _center.z;
}
// calc_velocities - calculate angular velocity max and acceleration based on radius and rate
// this should be called whenever the radius or rate are changed
// initialises the yaw and current position around the circle
void AC_Circle::calc_velocities(bool init_velocity)
{
// if we are doing a panorama set the circle_angle to the current heading
if (_radius <= 0) {
_angular_vel_max = ToRad(_rate);
_angular_accel = MAX(fabsf(_angular_vel_max),ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN)); // reach maximum yaw velocity in 1 second
}else{
// calculate max velocity based on waypoint speed ensuring we do not use more than half our max acceleration for accelerating towards the center of the circle
float velocity_max = MIN(_pos_control.get_speed_xy(), safe_sqrt(0.5f*_pos_control.get_accel_xy()*_radius));
// angular_velocity in radians per second
_angular_vel_max = velocity_max/_radius;
_angular_vel_max = constrain_float(ToRad(_rate),-_angular_vel_max,_angular_vel_max);
// angular_velocity in radians per second
_angular_accel = MAX(_pos_control.get_accel_xy()/_radius, ToRad(AC_CIRCLE_ANGULAR_ACCEL_MIN));
}
// initialise angular velocity
if (init_velocity) {
_angular_vel = 0;
}
}
// init_start_angle - sets the starting angle around the circle and initialises the angle_total
// if use_heading is true the vehicle's heading will be used to init the angle causing minimum yaw movement
// if use_heading is false the vehicle's position from the center will be used to initialise the angle
void AC_Circle::init_start_angle(bool use_heading)
{
// initialise angle total
_angle_total = 0;
// if the radius is zero we are doing panorama so init angle to the current heading
if (_radius <= 0) {
_angle = _ahrs.yaw;
return;
}
// if use_heading is true
if (use_heading) {
_angle = wrap_PI(_ahrs.yaw-M_PI);
} else {
// if we are exactly at the center of the circle, init angle to directly behind vehicle (so vehicle will backup but not change heading)
const Vector3f &curr_pos = _inav.get_position();
if (is_equal(curr_pos.x,_center.x) && is_equal(curr_pos.y,_center.y)) {
_angle = wrap_PI(_ahrs.yaw-M_PI);
} else {
// get bearing from circle center to vehicle in radians
float bearing_rad = atan2f(curr_pos.y-_center.y,curr_pos.x-_center.x);
_angle = wrap_PI(bearing_rad);
}
}
}