mirror of https://github.com/ArduPilot/ardupilot
3251 lines
104 KiB
Lua
3251 lines
104 KiB
Lua
--[[
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trajectory tracking aerobatic control
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See README.md for usage
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Written by Matthew Hampsey, Andy Palmer and Andrew Tridgell, with controller
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assistance from Paul Riseborough, testing by Henry Wurzburg
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]]--
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-- luacheck: ignore 212 (Unused argument)
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-- setup param block for aerobatics, reserving 35 params beginning with AERO_
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local PARAM_TABLE_KEY = 70
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local PARAM_TABLE_PREFIX = 'AEROM_'
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assert(param:add_table(PARAM_TABLE_KEY, "AEROM_", 40), 'could not add param table')
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local MAV_SEVERITY = {EMERGENCY=0, ALERT=1, CRITICAL=2, ERROR=3, WARNING=4, NOTICE=5, INFO=6, DEBUG=7}
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-- add a parameter and bind it to a variable
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function bind_add_param(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))
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return Parameter(PARAM_TABLE_PREFIX .. name)
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end
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--[[
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// @Param: AEROM_ANG_ACCEL
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// @DisplayName: Angular acceleration limit
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// @Description: Maximum angular acceleration in maneuvers
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// @Units: deg/s/s
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--]]
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AEROM_ANG_ACCEL = bind_add_param('ANG_ACCEL', 1, 6000)
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--[[
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// @Param: AEROM_ANG_TC
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// @DisplayName: Roll control filtertime constant
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// @Description: This is the time over which we filter the desired roll to smooth it
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// @Units: s
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--]]
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AEROM_ANG_TC = bind_add_param('ANG_TC', 2, 0.1)
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-- 3 was AEROM_KE_ANG
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--[[
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// @Param: AEROM_THR_PIT_FF
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// @DisplayName: Throttle feed forward from pitch
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// @Description: This controls how much extra throttle to add based on pitch ange. The value is for 90 degrees and is applied in proportion to pitch
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// @Units: %
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--]]
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THR_PIT_FF = bind_add_param('THR_PIT_FF', 4, 80)
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--[[
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// @Param: AEROM_SPD_P
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// @DisplayName: P gain for speed controller
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// @Description: This controls how rapidly the throttle is raised to compensate for a speed error
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// @Units: %
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--]]
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SPD_P = bind_add_param('SPD_P', 5, 5)
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--[[
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// @Param: AEROM_SPD_I
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// @DisplayName: I gain for speed controller
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// @Description: This controls how rapidly the throttle is raised to compensate for a speed error
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// @Units: %
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--]]
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SPD_I = bind_add_param('SPD_I', 6, 25)
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--[[
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// @Param: AEROM_ROL_COR_TC
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// @DisplayName: Roll control time constant
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// @Description: This is the time constant for correcting roll errors. A smaller value leads to faster roll corrections
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// @Units: s
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--]]
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ROLL_CORR_TC = bind_add_param('ROL_COR_TC', 8, 0.25)
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-- removed 9 and 10
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--[[
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// @Param: AEROM_TIME_COR_P
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// @DisplayName: Time constant for correction of our distance along the path
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// @Description: This is the time constant for correcting path position errors
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// @Units: s
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--]]
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TIME_CORR_P = bind_add_param('TIME_COR_P', 11, 1.0)
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--[[
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// @Param: AEROM_ERR_COR_P
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// @DisplayName: P gain for path error corrections
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// @Description: This controls how rapidly we correct back onto the desired path
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--]]
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ERR_CORR_P = bind_add_param('ERR_COR_P', 12, 2.0)
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--[[
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// @Param: AEROM_ERR_COR_D
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// @DisplayName: D gain for path error corrections
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// @Description: This controls how rapidly we correct back onto the desired path
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--]]
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ERR_CORR_D = bind_add_param('ERR_COR_D', 13, 2.8)
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--[[
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// @Param: AEROM_ENTRY_RATE
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// @DisplayName: The roll rate to use when entering a roll maneuver
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// @Description: This controls how rapidly we roll into a new orientation
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// @Units: deg/s
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--]]
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AEROM_ENTRY_RATE = bind_add_param('ENTRY_RATE', 14, 60)
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--[[
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// @Param: AEROM_THR_LKAHD
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// @DisplayName: The lookahead for throttle control
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// @Description: This controls how far ahead we look in time along the path for the target throttle
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// @Units: s
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--]]
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AEROM_THR_LKAHD = bind_add_param('THR_LKAHD', 15, 1)
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--[[
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// @Param: AEROM_DEBUG
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// @DisplayName: Debug control
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// @Description: This controls the printing of extra debug information on paths
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--]]
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AEROM_DEBUG = bind_add_param('DEBUG', 16, 0)
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--[[
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// @Param: AEROM_THR_MIN
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// @DisplayName: Minimum Throttle
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// @Description: Lowest throttle used during maneuvers
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// @Units: %
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--]]
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AEROM_THR_MIN = bind_add_param('THR_MIN', 17, 0)
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--[[
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// @Param: AEROM_THR_BOOST
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// @DisplayName: Throttle boost
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// @Description: This is the extra throttle added in schedule elements marked as needing a throttle boost
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// @Units: %
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--]]
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AEROM_THR_BOOST = bind_add_param('THR_BOOST', 18, 50)
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--[[
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// @Param: AEROM_YAW_ACCEL
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// @DisplayName: Yaw acceleration
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// @Description: This is maximum yaw acceleration to use
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// @Units: deg/s/s
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--]]
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AEROM_YAW_ACCEL = bind_add_param('YAW_ACCEL', 19, 1500)
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--[[
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// @Param: AEROM_LKAHD
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// @DisplayName: Lookahead
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// @Description: This is how much time to look ahead in the path for calculating path rates
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// @Units: s
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--]]
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AEROM_LKAHD = bind_add_param('LKAHD', 20, 0.5)
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--[[
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// @Param: AEROM_PATH_SCALE
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// @DisplayName: Path Scale
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// @Description: Scale factor for Path/Box size. 0.5 would half the distances in maneuvers. Radii are unaffected.
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// @Range: 0.1 100
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--]]
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AEROM_PATH_SCALE = bind_add_param('PATH_SCALE', 21, 1.0)
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--[[
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// @Param: AEROM_BOX_WIDTH
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// @DisplayName: Box Width
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// @Description: Length of aerobatic "box"
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// @Units: m
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--]]
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AEROM_BOX_WIDTH = bind_add_param('BOX_WIDTH', 22, 400)
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--[[
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// @Param: AEROM_STALL_THR
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// @DisplayName: Stall turn throttle
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// @Description: Amount of throttle to reduce to for a stall turn
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// @Units: %
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--]]
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AEROM_STALL_THR = bind_add_param('STALL_THR', 23, 40)
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--[[
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// @Param: AEROM_STALL_PIT
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// @DisplayName: Stall turn pitch threshold
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// @Description: Pitch threashold for moving to final stage of stall turn
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// @Units: deg
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--]]
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AEROM_STALL_PIT = bind_add_param('STALL_PIT', 24, -20)
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-- 25 was AEROM_KE_TC
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--[[
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// @Param: AEROM_KE_RUDD
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// @DisplayName: KnifeEdge Rudder
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// @Description: Percent of rudder normally uses to sustain knife-edge at trick speed
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// @Units: %
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--]]
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AEROM_KE_RUDD = bind_add_param('KE_RUDD', 26, 25)
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--[[
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// @Param: AEROM_KE_RUDD_LK
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// @DisplayName: KnifeEdge Rudder lookahead
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// @Description: Time to look ahead in the path to calculate rudder correction for bank angle
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// @Units: s
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--]]
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AEROM_KE_RUDD_LK = bind_add_param('KE_RUDD_LK', 27, 0.25)
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--[[
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// @Param: AEROM_ALT_ABORT
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// @DisplayName: Altitude Abort
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// @Description: Maximum allowable loss in altitude during a trick or sequence from its starting altitude.
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// @Units: m
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--]]
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AEROM_ALT_ABORT = bind_add_param('ALT_ABORT',28,15)
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--[[
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// @Param: AEROM_TS_P
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// @DisplayName: Timesync P gain
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// @Description: This controls how rapidly two aircraft are brought back into time sync
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--]]
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AEROM_TS_P = bind_add_param('TS_P', 29, 0.33)
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--[[
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// @Param: AEROM_TS_I
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// @DisplayName: Timesync I gain
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// @Description: This controls how rapidly two aircraft are brought back into time sync
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--]]
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AEROM_TS_I = bind_add_param('TS_I', 30, 0.33)
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--[[
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// @Param: AEROM_TS_SPDMAX
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// @DisplayName: Timesync speed max
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// @Description: This sets the maximum speed adjustment for time sync between aircraft
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// @Units: m/s
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--]]
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AEROM_TS_SPDMAX = bind_add_param('TS_SPDMAX', 31, 0.0)
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--[[
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// @Param: AEROM_TS_RATE
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// @DisplayName: Timesync rate of send of NAMED_VALUE_FLOAT data
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// @Description: This sets the rate we send data for time sync between aircraft
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// @Units: Hz
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--]]
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AEROM_TS_RATE = bind_add_param('TS_RATE', 32, 4.0)
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--[[
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// @Param: AEROM_MIS_ANGLE
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// @DisplayName: Mission angle
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// @Description: When set to a non-zero value, this is the assumed direction of the mission. Otherwise the waypoint angle is used
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// @Units: deg
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--]]
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AEROM_MIS_ANGLE = bind_add_param('MIS_ANGLE', 33, 0.0)
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--[[
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// @Param: AEROM_OPTIONS
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// @DisplayName: Aerobatic options
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// @Description: Options to control aerobatic behavior
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// @Bitmask: 0:UseRTLOnAbort, 1:AddAtToMessages, 2:DualAircraftSynchronised
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// @Units: deg
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--]]
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AEROM_OPTIONS = bind_add_param('OPTIONS', 34, 0.0)
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local OPTIONS = { ABORT_RTL=(1<<0), MSG_ADD_AT=(1<<1), DUAL_AIRCRAFT=(1<<2) }
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--[[
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return true if an option is set
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--]]
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function option_set(option)
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local options = math.floor(AEROM_OPTIONS:get())
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return options & option ~= 0
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end
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-- cope with old param values
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if AEROM_ANG_ACCEL:get() < 100 and AEROM_ANG_ACCEL:get() > 0 then
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AEROM_ANG_ACCEL:set_and_save(3000)
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end
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if AEROM_ANG_TC:get() > 1.0 then
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AEROM_ANG_TC:set_and_save(0.2)
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end
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ACRO_ROLL_RATE = Parameter("ACRO_ROLL_RATE")
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ACRO_YAW_RATE = Parameter('ACRO_YAW_RATE')
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ARSPD_FBW_MIN = Parameter("ARSPD_FBW_MIN")
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SCALING_SPEED = Parameter("SCALING_SPEED")
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SYSID_THISMAV = Parameter("SYSID_THISMAV")
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GRAVITY_MSS = 9.80665
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--[[
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list of attributes that can be added to a path element
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--]]
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local path_attribs = { "roll_ref", "set_orient", "rate_override", "thr_boost", "pos_corr", "message", "shift_xy", "timestamp", "pos_gain_mul" }
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--[[
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Aerobatic tricks on a switch support - allows for tricks to be initiated outside AUTO mode
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--]]
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-- 2nd param table for tricks on a switch
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local PARAM_TABLE_KEY2 = 71
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local PARAM_TABLE_PREFIX2 = "TRIK"
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assert(param:add_table(PARAM_TABLE_KEY2, PARAM_TABLE_PREFIX2, 63), 'could not add param table2')
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-- add a parameter and bind it to a variable in table2
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function bind_add_param2(name, idx, default_value)
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assert(param:add_param(PARAM_TABLE_KEY2, idx, name, default_value), string.format('could not add param %s', name))
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return Parameter(PARAM_TABLE_PREFIX2 .. name)
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end
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--[[
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// @Param: TRIK_ENABLE
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// @DisplayName: Tricks on Switch Enable
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// @Description: Enables Tricks on Switch. TRIK params hidden until enabled
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--]]
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local TRIK_ENABLE = bind_add_param2("_ENABLE", 1, 0)
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local TRICKS = nil
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local TRIK_SEL_FN = nil
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local TRIK_ACT_FN = nil
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local TRIK_COUNT = nil
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local function TrickDef(id, arg1, arg2, arg3, arg4)
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local self = {}
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self.id = id
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self.args = {arg1, arg2, arg3, arg4}
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return self
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end
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-- constrain a value between limits
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local function constrain(v, vmin, vmax)
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if v < vmin then
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v = vmin
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end
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if v > vmax then
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v = vmax
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end
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return v
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end
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local function sq(x)
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return x*x
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end
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local last_trick_action_state = nil
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if TRIK_ENABLE:get() > 0 then
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--[[
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// @Param: TRIK_SEL_FN
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// @DisplayName: Trik Selection Scripting Function
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// @Description: Setting an RC channel's _OPTION to this value will use it for trick selection
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// @Range: 301 307
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--]]
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TRIK_SEL_FN = bind_add_param2("_SEL_FN", 2, 301)
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--[[
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// @Param: TRIK_ACT_FN
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// @DisplayName: Trik Action Scripting Function
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// @Description: Setting an RC channel's _OPTION to this value will use it for trick action (abort,announce,execute)
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// @Range: 301 307
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--]]
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TRIK_ACT_FN = bind_add_param2("_ACT_FN", 3, 300)
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--[[
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// @Param: TRIK_COUNT
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// @DisplayName: Trik Count
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// @Description: Number of tricks which can be selected over the range of the trik selection RC channel
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// @Range: 1 11
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--]]
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TRIK_COUNT = bind_add_param2("_COUNT", 4, 3)
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TRICKS = {}
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last_trick_action_state = rc:get_aux_cached(TRIK_ACT_FN:get())
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-- setup parameters for tricks
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local count = math.floor(constrain(TRIK_COUNT:get(),1,11))
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for i = 1, count do
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local k = 5*i
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local prefix = string.format("%u", i)
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TRICKS[i] = TrickDef(bind_add_param2(prefix .. "_ID", k+0, -1),
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bind_add_param2(prefix .. "_ARG1", k+1, 30),
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bind_add_param2(prefix .. "_ARG2", k+2, 0),
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bind_add_param2(prefix .. "_ARG3", k+3, 0),
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bind_add_param2(prefix .. "_ARG4", k+4, 0))
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end
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gcs:send_text(MAV_SEVERITY.ALERT, string.format("Enabled %u aerobatic tricks", TRIK_COUNT:get()))
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end
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local NAV_SCRIPT_TIME = 42702
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local MODE_AUTO = 10
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local MODE_RTL = 11
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local LOOP_RATE = 40
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local DO_JUMP = 177
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local k_throttle = 70
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local NAME_FLOAT_RATE = 2
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local TRIM_ARSPD_CM = Parameter("TRIM_ARSPD_CM")
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local last_id = 0
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local current_task = nil
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local last_named_float_t = 0
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local last_named_float_send_t = 0
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local path_var = {}
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local function wrap_360(angle)
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local res = math.fmod(angle, 360.0)
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if res < 0 then
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res = res + 360.0
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end
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return res
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end
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local function wrap_180(angle)
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local res = wrap_360(angle)
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if res > 180 then
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res = res - 360
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end
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return res
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end
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local function wrap_pi(angle)
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local angle_deg = math.deg(angle)
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local angle_wrapped = wrap_180(angle_deg)
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return math.rad(angle_wrapped)
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end
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local function wrap_2pi(angle)
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local angle_deg = math.deg(angle)
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local angle_wrapped = wrap_360(angle_deg)
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return math.rad(angle_wrapped)
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end
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--[[
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calculate an alpha for a first order low pass filter
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--]]
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local function calc_lowpass_alpha(dt, time_constant)
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local rc = time_constant/(math.pi*2)
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return dt/(dt+rc)
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end
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--[[ get the c.y element of a quaternion, which gives
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the projection of the vehicle y axis in the down direction
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This is equal to sin(roll)*cos(pitch)
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--]]
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local function get_quat_dcm_c_y(q)
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local q1 = q:q1()
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local q2 = q:q2()
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local q3 = q:q3()
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local q4 = q:q4()
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local q3q4 = q3 * q4
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local q1q2 = q1 * q2
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return 2*(q3q4 + q1q2)
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end
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--[[ get the c.y element of the DCM body to earth matrix, which gives
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the projection of the vehicle y axis in the down direction
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This is equal to sin(roll)*cos(pitch)
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--]]
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local function get_ahrs_dcm_c_y()
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return get_quat_dcm_c_y(ahrs:get_quaternion())
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end
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-- a PI controller implemented as a Lua object
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local function PI_controller(kP,kI,iMax,min,max)
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-- the new instance. You can put public variables inside this self
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-- declaration if you want to
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local self = {}
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-- private fields as locals
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local _kP = kP or 0.0
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local _kI = kI or 0.0
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local _iMax = iMax
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local _min = min
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local _max = max
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local _last_t = nil
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local _I = 0
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local _P = 0
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local _total = 0
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local _counter = 0
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local _target = 0
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local _current = 0
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-- update the controller.
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function self.update(target, current)
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local now = millis():tofloat() * 0.001
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if not _last_t then
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_last_t = now
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end
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local dt = now - _last_t
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_last_t = now
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local err = target - current
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_counter = _counter + 1
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local P = _kP * err
|
|
if ((_total < _max and _total > _min) or (_total >= _max and err < 0) or (_total <= _min and err > 0)) then
|
|
_I = _I + _kI * err * dt
|
|
end
|
|
if _iMax then
|
|
_I = constrain(_I, -_iMax, iMax)
|
|
end
|
|
local I = _I
|
|
local ret = P + I
|
|
|
|
_target = target
|
|
_current = current
|
|
_P = P
|
|
|
|
ret = constrain(ret, _min, _max)
|
|
_total = ret
|
|
return ret
|
|
end
|
|
|
|
-- reset integrator to an initial value
|
|
function self.reset(integrator)
|
|
_I = integrator
|
|
end
|
|
|
|
function self.set_I(I)
|
|
_kI = I
|
|
end
|
|
|
|
function self.set_P(P)
|
|
_kP = P
|
|
end
|
|
|
|
function self.set_Imax(Imax)
|
|
_iMax = Imax
|
|
end
|
|
|
|
-- log the controller internals
|
|
function self.log(name, add_total)
|
|
-- allow for an external addition to total
|
|
logger.write(name,'Targ,Curr,P,I,Total,Add','ffffff',_target,_current,_P,_I,_total,add_total)
|
|
end
|
|
-- return the instance
|
|
return self
|
|
end
|
|
|
|
local function speed_controller(kP_param,kI_param, kFF_pitch_param, Imax, min, max)
|
|
local self = {}
|
|
local kFF_pitch = kFF_pitch_param
|
|
local PI = PI_controller(kP_param:get(), kI_param:get(), Imax, min, max)
|
|
|
|
function self.update(target, anticipated_pitch_rad)
|
|
local current_speed = ahrs:get_velocity_NED():length()
|
|
local throttle = PI.update(target, current_speed)
|
|
local FF = math.sin(anticipated_pitch_rad)*kFF_pitch:get()
|
|
PI.log("AESP", FF)
|
|
return throttle + FF
|
|
end
|
|
|
|
function self.reset()
|
|
PI.reset(0)
|
|
local temp_throttle = self.update(ahrs:get_velocity_NED():length(), 0)
|
|
local current_throttle = SRV_Channels:get_output_scaled(k_throttle)
|
|
PI.reset(current_throttle-temp_throttle)
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
local speed_PI = speed_controller(SPD_P, SPD_I, THR_PIT_FF, 100.0, 0.0, 100.0)
|
|
|
|
local function speed_adjust_controller(kP_param, kI_param)
|
|
local self = {}
|
|
local spd_max = AEROM_TS_SPDMAX:get()
|
|
local PI = PI_controller(kP_param:get(), kI_param:get(), spd_max, -spd_max, spd_max)
|
|
|
|
function self.update(spd_error)
|
|
local adjustment = PI.update(0, spd_error)
|
|
PI.log("AESA", 0)
|
|
return adjustment
|
|
end
|
|
|
|
function self.reset()
|
|
PI.reset(0)
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
local speed_adjustment_PI = speed_adjust_controller(AEROM_TS_P, AEROM_TS_I)
|
|
|
|
function sgn(x)
|
|
local eps = 0.000001
|
|
if (x > eps) then
|
|
return 1.0
|
|
elseif x < eps then
|
|
return -1.0
|
|
else
|
|
return 0.0
|
|
end
|
|
end
|
|
|
|
local function get_wp_location(i)
|
|
local m = mission:get_item(i)
|
|
local loc = Location()
|
|
loc:lat(m:x())
|
|
loc:lng(m:y())
|
|
loc:relative_alt(true)
|
|
loc:terrain_alt(false)
|
|
loc:origin_alt(false)
|
|
loc:alt(math.floor(m:z()*100))
|
|
return loc
|
|
end
|
|
|
|
local function resolve_jump(i)
|
|
local m = mission:get_item(i)
|
|
while m:command() == DO_JUMP do
|
|
i = math.floor(m:param1())
|
|
m = mission:get_item(i)
|
|
end
|
|
return i
|
|
end
|
|
|
|
--[[
|
|
Wrapper to construct a Vector3f{x, y, z} from (x, y, z)
|
|
--]]
|
|
local function makeVector3f(x, y, z)
|
|
local vec = Vector3f()
|
|
vec:x(x)
|
|
vec:y(y)
|
|
vec:z(z)
|
|
return vec
|
|
end
|
|
|
|
--[[
|
|
get quaternion rotation between vector1 and vector2
|
|
with thanks to https://stackoverflow.com/questions/1171849/finding-quaternion-representing-the-rotation-from-one-vector-to-another
|
|
--]]
|
|
local function vectors_to_quat_rotation(vector1, vector2)
|
|
local v1 = vector1:copy()
|
|
local v2 = vector2:copy()
|
|
v1:normalize()
|
|
v2:normalize()
|
|
local dot = v1:dot(v2)
|
|
local a = v1:cross(v2)
|
|
local w = 1.0 + dot
|
|
local q = Quaternion()
|
|
q:q1(w)
|
|
q:q2(a:x())
|
|
q:q3(a:y())
|
|
q:q4(a:z())
|
|
q:normalize()
|
|
return q
|
|
end
|
|
|
|
--[[
|
|
get path rate from two tangents and delta time
|
|
--]]
|
|
local function tangents_to_rate(t1, t2, dt)
|
|
local q_delta = vectors_to_quat_rotation(t1, t2)
|
|
local rate_rads = Vector3f()
|
|
q_delta:to_axis_angle(rate_rads)
|
|
rate_rads = rate_rads:scale(1.0/dt)
|
|
return rate_rads
|
|
end
|
|
|
|
--[[
|
|
create a class that inherits from a base class
|
|
--]]
|
|
local function inheritsFrom(baseClass, _name)
|
|
local new_class = { name = _name }
|
|
local class_mt = { __index = new_class }
|
|
|
|
function new_class:create()
|
|
local newinst = {}
|
|
setmetatable( newinst, class_mt )
|
|
return newinst
|
|
end
|
|
|
|
if nil ~= baseClass then
|
|
setmetatable( new_class, { __index = baseClass } )
|
|
end
|
|
|
|
return new_class
|
|
end
|
|
|
|
--[[
|
|
return a quaternion for a roll, pitch, yaw (321 euler sequence) attitude
|
|
--]]
|
|
function qorient(roll_deg, pitch_deg, yaw_deg)
|
|
local q = Quaternion()
|
|
q:from_euler(math.rad(roll_deg), math.rad(pitch_deg), math.rad(yaw_deg))
|
|
return q
|
|
end
|
|
|
|
--[[
|
|
rotate a vector by a quaternion
|
|
--]]
|
|
local function quat_earth_to_body(quat, v)
|
|
local v2 = v:copy()
|
|
quat:earth_to_body(v2)
|
|
return v2
|
|
end
|
|
|
|
--[[
|
|
rotate a vector by a inverse quaternion
|
|
--]]
|
|
local function quat_body_to_earth(quat, v)
|
|
local v2 = v:copy()
|
|
quat:inverse():earth_to_body(v2)
|
|
return v2
|
|
end
|
|
|
|
--[[
|
|
copy a quaternion
|
|
--]]
|
|
local function quat_copy(q)
|
|
return q:inverse():inverse()
|
|
end
|
|
|
|
|
|
--[[
|
|
trajectory building blocks. We have two types of building blocks,
|
|
roll blocks and path blocks. These are combined to give composite paths
|
|
--]]
|
|
|
|
|
|
--[[
|
|
roll component that goes through a fixed total angle at a fixed roll rate
|
|
--]]
|
|
local _roll_angle = inheritsFrom(nil, 'roll_angle')
|
|
function _roll_angle:get_roll(t)
|
|
if self.angle == nil then
|
|
return 0
|
|
end
|
|
return self.angle * t
|
|
end
|
|
function roll_angle(angle)
|
|
local self = _roll_angle:create()
|
|
if angle ~= 0 then
|
|
self.angle = angle
|
|
end
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
roll component that banks to _angle over AEROM_ENTRY_RATE
|
|
degrees/s, then holds that angle, then banks back to zero at
|
|
AEROM_ENTRY_RATE degrees/s
|
|
--]]
|
|
local _roll_angle_entry_exit = inheritsFrom(nil, "roll_angle_entry_exit")
|
|
function _roll_angle_entry_exit:get_roll(t, time_s)
|
|
local entry_s = math.abs(self.angle) / AEROM_ENTRY_RATE:get()
|
|
local entry_t = entry_s / time_s
|
|
if entry_t > 0.5 then
|
|
entry_t = 0.5
|
|
end
|
|
if t <= 0 then
|
|
return 0
|
|
end
|
|
if t < entry_t then
|
|
return self.angle * t / entry_t
|
|
end
|
|
if t < 1.0 - entry_t then
|
|
return self.angle
|
|
end
|
|
if self.angle == 0 or t >= 1.0 then
|
|
return 0
|
|
end
|
|
return (1.0 - ((t - (1.0 - entry_t)) / entry_t)) * self.angle
|
|
end
|
|
|
|
function roll_angle_entry_exit(angle)
|
|
local self = _roll_angle_entry_exit:create()
|
|
self.angle = angle
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
roll component that banks to _angle over AEROM_ENTRY_RATE
|
|
degrees/s, then holds that angle
|
|
--]]
|
|
local _roll_angle_entry = inheritsFrom(nil, "roll_angle_entry")
|
|
function _roll_angle_entry:get_roll(t, time_s)
|
|
local entry_s = math.abs(self.angle) / AEROM_ENTRY_RATE:get()
|
|
local entry_t = entry_s / time_s
|
|
if entry_t > 0.5 then
|
|
entry_t = 0.5
|
|
end
|
|
if t < entry_t then
|
|
return self.angle * t / entry_t
|
|
end
|
|
return self.angle
|
|
end
|
|
|
|
function roll_angle_entry(angle)
|
|
local self = _roll_angle_entry:create()
|
|
self.angle = angle
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
roll component that holds angle until the end of the subpath, then
|
|
rolls back to 0 at the AEROM_ENTRY_RATE
|
|
--]]
|
|
local _roll_angle_exit = inheritsFrom(nil, "roll_angle_exit")
|
|
function _roll_angle_exit:get_roll(t, time_s)
|
|
local entry_s = math.abs(self.angle) / AEROM_ENTRY_RATE:get()
|
|
local entry_t = entry_s / time_s
|
|
if t < 1.0 - entry_t then
|
|
return 0
|
|
end
|
|
if self.angle == 0 then
|
|
return 0
|
|
end
|
|
return ((t - (1.0 - entry_t)) / entry_t) * self.angle
|
|
end
|
|
|
|
function roll_angle_exit(angle)
|
|
local self = _roll_angle_exit:create()
|
|
self.angle = angle
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
implement a sequence of rolls, specified as a list of {proportion, roll_angle} pairs
|
|
--]]
|
|
local _roll_sequence = inheritsFrom(nil, "roll_sequence")
|
|
function _roll_sequence:get_roll(t)
|
|
for i = 1, #self.seq do
|
|
if t <= self.end_t[i] then
|
|
local t2 = (t - self.start_t[i])/(self.seq[i][1]/self.total)
|
|
return self.start_ang[i] + t2 * self.seq[i][2]
|
|
end
|
|
end
|
|
-- we've gone past the end
|
|
return self.start_ang[#self.seq] + self.seq[#self.seq][2]
|
|
end
|
|
|
|
function roll_sequence(seq)
|
|
local self = _roll_sequence:create()
|
|
self.seq = seq
|
|
self.total = 0.0
|
|
self.end_t = {}
|
|
self.start_t = {}
|
|
self.start_ang = {}
|
|
for i = 1, #seq do
|
|
self.total = self.total + seq[i][1]
|
|
end
|
|
local t = 0.0
|
|
local angle = 0.0
|
|
for i = 1, #seq do
|
|
self.start_t[i] = t
|
|
self.start_ang[i] = angle
|
|
angle = angle + seq[i][2]
|
|
t = t + seq[i][1]/self.total
|
|
self.end_t[i] = t
|
|
end
|
|
return self
|
|
end
|
|
|
|
--[[ given a path function get_pos() calculate the extents of the path
|
|
along the X axis as a tuple
|
|
--]]
|
|
local function get_extents_x(obj)
|
|
local p = obj:get_pos(0)
|
|
local min_x = p:x()
|
|
local max_x = min_x
|
|
for t=0, 1, 0.02 do
|
|
p = obj:get_pos(t)
|
|
min_x = math.min(min_x, p:x())
|
|
max_x = math.max(max_x, p:x())
|
|
end
|
|
return { min_x, max_x }
|
|
end
|
|
|
|
|
|
--[[
|
|
all path components inherit from PathComponent
|
|
--]]
|
|
local _PathComponent = inheritsFrom(nil)
|
|
function _PathComponent:get_pos(t)
|
|
return makeVector3f(0, 0, 0)
|
|
end
|
|
function _PathComponent:get_length()
|
|
return 0
|
|
end
|
|
function _PathComponent:get_final_orientation()
|
|
return Quaternion()
|
|
end
|
|
function _PathComponent:get_roll_correction(t)
|
|
return 0
|
|
end
|
|
function _PathComponent:get_attribute(t, attrib)
|
|
return self[attrib]
|
|
end
|
|
function _PathComponent:get_extents_x()
|
|
if self.extents ~= nil then
|
|
return self.extents
|
|
end
|
|
self.extents = get_extents_x(self)
|
|
return self.extents
|
|
end
|
|
|
|
--[[
|
|
path component that does a straight horizontal line
|
|
--]]
|
|
local _path_straight = inheritsFrom(_PathComponent, "path_straight")
|
|
function _path_straight:get_pos(t)
|
|
return makeVector3f(self.distance*t, 0, 0)
|
|
end
|
|
function _path_straight:get_length()
|
|
return self.distance
|
|
end
|
|
function path_straight(distance)
|
|
local self = _path_straight:create()
|
|
self.distance = distance
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
path component that does a straight line then reverses direction
|
|
--]]
|
|
local _path_reverse = inheritsFrom(_PathComponent, "path_reverse")
|
|
function _path_reverse:get_pos(t)
|
|
if t < 0.5 then
|
|
return makeVector3f(self.distance*t*2, 0, 0)
|
|
else
|
|
return makeVector3f(self.distance-(self.distance*(t-0.5)*2), 0, 0)
|
|
end
|
|
end
|
|
function _path_reverse:get_length()
|
|
return self.distance*2
|
|
end
|
|
function path_reverse(distance)
|
|
local self = _path_reverse:create()
|
|
self.distance = distance
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
path component that aligns to within the aerobatic box
|
|
--]]
|
|
local _path_align_box = inheritsFrom(_PathComponent, "path_align_box")
|
|
function _path_align_box:get_pos(t)
|
|
return makeVector3f(self.distance*t, 0, 0)
|
|
end
|
|
function _path_align_box:get_length()
|
|
return self.distance
|
|
end
|
|
function _path_align_box:set_next_extents(extents, start_pos, start_orientation)
|
|
local box_half = AEROM_BOX_WIDTH:get()/2
|
|
local start_x = start_pos:x()
|
|
local next_max_x = extents[2]
|
|
if math.abs(math.deg(start_orientation:get_euler_yaw())) > 90 then
|
|
-- we are on a reverse path
|
|
self.distance = (box_half * self.alignment) + start_x - next_max_x
|
|
else
|
|
-- we are on a forward path
|
|
self.distance = (box_half * self.alignment) - start_x - next_max_x
|
|
end
|
|
self.distance = math.max(self.distance, 0.01)
|
|
end
|
|
function path_align_box(alignment)
|
|
local self = _path_align_box:create()
|
|
self.distance = nil
|
|
self.alignment = alignment
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
path component that aligns so the center of the next maneuver is
|
|
centered within the aerobatic box
|
|
--]]
|
|
local _path_align_center = inheritsFrom(_PathComponent, "path_align_center")
|
|
function _path_align_center:get_pos(t)
|
|
return makeVector3f(self.distance*t, 0, 0)
|
|
end
|
|
function _path_align_center:get_length()
|
|
return self.distance
|
|
end
|
|
function _path_align_center:set_next_extents(extents, start_pos, start_orientation)
|
|
local start_x = start_pos:x()
|
|
local next_mid_x = (extents[1]+extents[2])*0.5
|
|
if math.abs(math.deg(start_orientation:get_euler_yaw())) > 90 then
|
|
-- we are on a reverse path
|
|
self.distance = start_x - next_mid_x
|
|
else
|
|
-- we are on a forward path
|
|
self.distance = - start_x - next_mid_x
|
|
end
|
|
self.distance = math.max(self.distance, 0.01)
|
|
end
|
|
|
|
function path_align_center()
|
|
local self = _path_align_center:create()
|
|
self.distance = nil
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
path component that does a vertical arc over a given angle
|
|
--]]
|
|
local _path_vertical_arc = inheritsFrom(_PathComponent, "path_vertical_arc")
|
|
function _path_vertical_arc:get_pos(t)
|
|
local t2ang = wrap_2pi(t * math.rad(self.angle))
|
|
return makeVector3f(math.abs(self.radius)*math.sin(t2ang), 0, -self.radius*(1.0 - math.cos(t2ang)))
|
|
end
|
|
function _path_vertical_arc:get_length()
|
|
return math.abs(self.radius) * 2 * math.pi * math.abs(self.angle) / 360.0
|
|
end
|
|
function _path_vertical_arc:get_final_orientation()
|
|
local q = Quaternion()
|
|
q:from_axis_angle(makeVector3f(0,1,0), sgn(self.radius)*math.rad(wrap_180(self.angle)))
|
|
q:normalize()
|
|
return q
|
|
end
|
|
function path_vertical_arc(radius, angle)
|
|
local self = _path_vertical_arc:create()
|
|
self.radius = radius
|
|
self.angle = angle
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
path component that does a horizontal arc over a given angle
|
|
--]]
|
|
local _path_horizontal_arc = inheritsFrom(_PathComponent, "path_horizontal_arc")
|
|
function _path_horizontal_arc:get_pos(t)
|
|
local t2ang = t * math.rad(self.angle)
|
|
return makeVector3f(math.abs(self.radius)*math.sin(t2ang), self.radius*(1.0 - math.cos(t2ang)), -self.height_gain*t)
|
|
end
|
|
function _path_horizontal_arc:get_length()
|
|
local circumference = 2 * math.pi * math.abs(self.radius)
|
|
local full_circle_height_gain = self.height_gain * 360.0 / math.abs(self.angle)
|
|
local helix_length = math.sqrt(full_circle_height_gain*full_circle_height_gain + circumference*circumference)
|
|
return helix_length * math.abs(self.angle) / 360.0
|
|
end
|
|
function _path_horizontal_arc:get_final_orientation()
|
|
local q = Quaternion()
|
|
q:from_axis_angle(makeVector3f(0,0,1), sgn(self.radius)*math.rad(self.angle))
|
|
return q
|
|
end
|
|
|
|
--[[
|
|
roll correction for the rotation caused by height gain
|
|
--]]
|
|
function _path_horizontal_arc:get_roll_correction(t)
|
|
if self.height_gain == 0 then
|
|
return 0
|
|
end
|
|
local gamma=math.atan(self.height_gain*(360/self.angle)/(2*math.pi*self.radius))
|
|
return -t*self.angle*math.sin(gamma)
|
|
end
|
|
|
|
function path_horizontal_arc(radius, angle, height_gain)
|
|
local self = _path_horizontal_arc:create()
|
|
self.radius = radius
|
|
self.angle = angle
|
|
self.height_gain = height_gain or 0
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
path component that does a cylinder for a barrel roll
|
|
--]]
|
|
local _path_cylinder = inheritsFrom(_PathComponent, "path_cylinder")
|
|
function _path_cylinder:get_pos(t)
|
|
local t2ang = t * self.num_spirals * math.pi * 2
|
|
local v = makeVector3f(self.length*t, math.abs(self.radius)*math.sin(t2ang+math.pi), -math.abs(self.radius)*(1.0 - math.cos(t2ang)))
|
|
local qrot = Quaternion()
|
|
qrot:from_axis_angle(makeVector3f(0,0,1), (0.5*math.pi)-self.gamma)
|
|
v = quat_earth_to_body(qrot, v)
|
|
if self.radius < 0 then
|
|
-- mirror for reverse radius
|
|
v:y(-v:y())
|
|
end
|
|
return v
|
|
end
|
|
|
|
function _path_cylinder:get_length()
|
|
local circumference = 2 * math.pi * math.abs(self.radius)
|
|
local length_per_spiral = self.length / self.num_spirals
|
|
local helix_length = math.sqrt(length_per_spiral*length_per_spiral + circumference*circumference)
|
|
return helix_length * self.num_spirals
|
|
end
|
|
|
|
--[[
|
|
roll correction for the rotation caused by the path
|
|
--]]
|
|
function _path_cylinder:get_roll_correction(t)
|
|
return sgn(self.radius)*t*360*math.sin(self.gamma)*self.num_spirals
|
|
end
|
|
|
|
function path_cylinder(radius, length, num_spirals)
|
|
local self = _path_cylinder:create()
|
|
self.radius = radius
|
|
self.length = length
|
|
self.num_spirals = num_spirals
|
|
self.gamma = math.atan((length/num_spirals)/(2*math.pi*math.abs(radius)))
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
a Path has the methods of both RollComponent and
|
|
PathComponent allowing for a complete description of a subpath
|
|
--]]
|
|
local _Path = inheritsFrom(nil)
|
|
function _Path:get_roll(t, time_s)
|
|
return wrap_180(self.roll_component:get_roll(t, time_s))
|
|
end
|
|
function _Path:get_roll_correction(t)
|
|
return self.path_component:get_roll_correction(t)
|
|
end
|
|
function _Path:get_pos(t)
|
|
return self.path_component:get_pos(t)
|
|
end
|
|
function _Path:get_length()
|
|
return self.path_component:get_length()
|
|
end
|
|
function _Path:get_final_orientation()
|
|
return self.path_component:get_final_orientation()
|
|
end
|
|
function _Path:get_attribute(t, attrib)
|
|
return self[attrib]
|
|
end
|
|
function _Path:set_next_extents(extents, start_pos, start_orientation)
|
|
self.path_component:set_next_extents(extents, start_pos, start_orientation)
|
|
end
|
|
local function Path(path_component, roll_component)
|
|
local self = _Path:create()
|
|
self.name = string.format("%s|%s", path_component.name, roll_component.name)
|
|
assert(path_component)
|
|
assert(roll_component)
|
|
self.path_component = path_component
|
|
self.roll_component = roll_component
|
|
return self
|
|
end
|
|
|
|
|
|
--[[
|
|
componse multiple sub-paths together to create a full trajectory
|
|
--]]
|
|
local _path_composer = inheritsFrom(nil)
|
|
-- return the subpath with index i. Used to cope with two ways of calling path_composer
|
|
function _path_composer:subpath(i)
|
|
if i == self.cache_i then
|
|
return self.cache_sp
|
|
end
|
|
self.cache_i = i
|
|
local sp = self.subpaths[i]
|
|
if sp.name then
|
|
-- we are being called with a list of Path objects
|
|
self.cache_sp = sp
|
|
else
|
|
-- we are being called with a list function/argument tuples
|
|
local args = self.subpaths[i][2]
|
|
self.cache_sp = self.subpaths[i][1](args[1], args[2], args[3], args[4], self.start_pos[i], self.start_orientation[i])
|
|
-- copy over path attributes
|
|
for _, v in pairs(path_attribs) do
|
|
self.cache_sp[v] = self.subpaths[i][v]
|
|
end
|
|
end
|
|
return self.cache_sp
|
|
end
|
|
|
|
function _path_composer:end_time(i)
|
|
local proportion = self.lengths[i] / self.total_length
|
|
return self.start_time[i] + proportion
|
|
end
|
|
|
|
function _path_composer:get_subpath_t(t)
|
|
if self.last_subpath_t[1] == t then
|
|
-- use cached value
|
|
return self.last_subpath_t[2], self.last_subpath_t[3]
|
|
end
|
|
local i = 1
|
|
while t >= self:end_time(i) and i < self.num_sub_paths do
|
|
i = i + 1
|
|
end
|
|
local proportion = self.lengths[i]/self.total_length
|
|
local subpath_t = (t - self.start_time[i]) / proportion
|
|
self.last_subpath_t = { t, subpath_t, i }
|
|
local sp = self:subpath(i)
|
|
if i > self.highest_i and t < 1.0 and t > 0 then
|
|
self.highest_i = i
|
|
if sp.message ~= nil then
|
|
local msg = sp.message
|
|
if option_set(OPTIONS.MSG_ADD_AT) then
|
|
msg = "@" .. msg
|
|
end
|
|
gcs:send_text(MAV_SEVERITY.ALERT, msg)
|
|
end
|
|
if AEROM_DEBUG:get() > 0 then
|
|
gcs:send_text(MAV_SEVERITY.ALERT, string.format("starting %s[%d] %s", self.name, i, sp.name))
|
|
end
|
|
end
|
|
return subpath_t, i
|
|
end
|
|
|
|
-- return position at time t
|
|
function _path_composer:get_pos(t)
|
|
local subpath_t, i = self:get_subpath_t(t)
|
|
local sp = self:subpath(i)
|
|
return quat_earth_to_body(self.start_orientation[i], sp:get_pos(subpath_t)) + self.start_pos[i]
|
|
end
|
|
|
|
-- return angle for the composed path at time t
|
|
function _path_composer:get_roll(t, time_s)
|
|
local subpath_t, i = self:get_subpath_t(t)
|
|
local speed = target_groundspeed()
|
|
local sp = self:subpath(i)
|
|
local angle = sp:get_roll(subpath_t, self.lengths[i]/speed)
|
|
return angle + self.start_angle[i]
|
|
end
|
|
|
|
function _path_composer:get_roll_correction(t)
|
|
local subpath_t, i = self:get_subpath_t(t)
|
|
local sp = self:subpath(i)
|
|
return sp:get_roll_correction(subpath_t) + (self.start_roll_correction[i] or 0)
|
|
end
|
|
|
|
function _path_composer:get_length()
|
|
return self.total_length
|
|
end
|
|
|
|
function _path_composer:get_final_orientation()
|
|
return self.final_orientation
|
|
end
|
|
|
|
function _path_composer:get_attribute(t, attrib)
|
|
local subpath_t, i = self:get_subpath_t(t)
|
|
local sp = self:subpath(i)
|
|
return sp[attrib] or sp:get_attribute(subpath_t, attrib)
|
|
end
|
|
|
|
function _path_composer:get_extents_x()
|
|
if self.extents ~= nil then
|
|
return self.extents
|
|
end
|
|
self.extents = get_extents_x(self)
|
|
return self.extents
|
|
end
|
|
|
|
function _path_composer:calculate_timestamps()
|
|
self.timestamp_start = {}
|
|
self.timestamp_start[1] = 0.0
|
|
self.have_timestamps = false
|
|
for i = 1, self.num_sub_paths do
|
|
local sp = self:subpath(i)
|
|
local timestamp = sp.timestamp
|
|
if timestamp then
|
|
self.timestamp_start[i] = timestamp
|
|
self.have_timestamps = true
|
|
end
|
|
end
|
|
if self.have_timestamps then
|
|
local tstart = 0.0
|
|
for i = 2, self.num_sub_paths do
|
|
if not self.timestamp_start[i] then
|
|
-- find the next element with a timestamp, getting total length
|
|
local length_sum = self:subpath(i-1):get_length()
|
|
for j = i, self.num_sub_paths do
|
|
if self.timestamp_start[j] then
|
|
--gcs:send_text(MAV_SEVERITY.ALERT, string.format("found %u %u %.3f ts=%.3f", i, j, length_sum, tstart))
|
|
for k = i, j-1 do
|
|
local len = self:subpath(k):get_length()
|
|
self.timestamp_start[k] = tstart + len / length_sum
|
|
--gcs:send_text(MAV_SEVERITY.ALERT, string.format("ts[%u] %.3f %.2f/%.2f", k, self.timestamp_start[k], len, length_sum))
|
|
end
|
|
break
|
|
end
|
|
length_sum = length_sum + self:subpath(j):get_length()
|
|
end
|
|
else
|
|
tstart = self.timestamp_start[i]
|
|
end
|
|
end
|
|
self.timestamp_start[self.num_sub_paths+1] = self.timestamp_start[self.num_sub_paths]+1.0
|
|
end
|
|
|
|
self.patht_start = {}
|
|
self.patht_start[1] = 0.0
|
|
self.patht_start[self.num_sub_paths+1] = 1.0
|
|
local total_length = self:get_length()
|
|
for i = 2, self.num_sub_paths do
|
|
self.patht_start[i] = self.patht_start[i-1] + self:subpath(i-1):get_length() / total_length
|
|
end
|
|
|
|
if self.have_timestamps then
|
|
gcs:send_text(MAV_SEVERITY.INFO,"Calculated timestamps")
|
|
end
|
|
end
|
|
|
|
function _path_composer:patht_to_timestamp(path_t)
|
|
path_t = constrain(path_t, 0.0, 1.0)
|
|
if not self.have_timestamps then
|
|
return path_t
|
|
end
|
|
for i = 1, self.num_sub_paths do
|
|
if self.patht_start[i+1] >= path_t then
|
|
local dt = path_t - self.patht_start[i]
|
|
local p = dt / (self.patht_start[i+1] - self.patht_start[i])
|
|
return self.timestamp_start[i] + p * (self.timestamp_start[i+1] - self.timestamp_start[i])
|
|
end
|
|
end
|
|
return self.timestamp_start[self.num_sub_paths+1]
|
|
end
|
|
|
|
function _path_composer:timestamp_to_patht(tstamp)
|
|
if not self.have_timestamps then
|
|
return tstamp
|
|
end
|
|
tstamp = constrain(tstamp, 0.0, self.timestamp_start[self.num_sub_paths+1])
|
|
for i = 1, self.num_sub_paths do
|
|
if self.timestamp_start[i+1] >= tstamp then
|
|
local dt = tstamp - self.timestamp_start[i]
|
|
local p = dt / (self.timestamp_start[i+1] - self.timestamp_start[i])
|
|
return self.patht_start[i] + p * (self.patht_start[i+1] - self.patht_start[i])
|
|
end
|
|
end
|
|
return 1.0
|
|
end
|
|
|
|
--[[
|
|
get the time that the next segment starts
|
|
--]]
|
|
function _path_composer:get_next_segment_start(t)
|
|
local subpath_t, i = self:get_subpath_t(t)
|
|
local sp = self:subpath(i)
|
|
if sp.get_next_segment_start ~= nil then
|
|
return self.start_time[i] + (sp:get_next_segment_start(subpath_t) * (self:end_time(i) - self.start_time[i]))
|
|
end
|
|
return self:end_time(i)
|
|
end
|
|
|
|
local function path_composer(name, subpaths)
|
|
local self = _path_composer:create()
|
|
self.name = name
|
|
self.subpaths = subpaths
|
|
self.lengths = {}
|
|
self.start_time = {}
|
|
self.start_orientation = {}
|
|
self.start_pos = {}
|
|
self.start_angle = {}
|
|
self.start_roll_correction = {}
|
|
self.total_length = 0
|
|
self.num_sub_paths = #subpaths
|
|
self.last_subpath_t = { -1, 0, 0 }
|
|
self.highest_i = 0
|
|
|
|
local orientation = Quaternion()
|
|
local pos = makeVector3f(0,0,0)
|
|
local angle = 0
|
|
local roll_correction = 0
|
|
local speed = target_groundspeed()
|
|
|
|
for i = 1, self.num_sub_paths do
|
|
-- accumulate orientation, position and angle
|
|
self.start_orientation[i] = quat_copy(orientation)
|
|
self.start_pos[i] = pos:copy()
|
|
self.start_angle[i] = angle
|
|
if roll_correction ~= 0 then
|
|
self.start_roll_correction[i] = roll_correction
|
|
end
|
|
|
|
local sp = self:subpath(i)
|
|
|
|
self.lengths[i] = sp:get_length()
|
|
if self.lengths[i] == nil and i < self.num_sub_paths then
|
|
local sp2 = self:subpath(i+1)
|
|
local next_extents = sp2:get_extents_x()
|
|
if next_extents ~= nil then
|
|
sp:set_next_extents(next_extents, self.start_pos[i], self.start_orientation[i])
|
|
self.lengths[i] = sp:get_length()
|
|
-- solidify this subpath now that it has its length calculated
|
|
self.subpaths[i] = sp
|
|
end
|
|
end
|
|
|
|
self.total_length = self.total_length + self.lengths[i]
|
|
|
|
local spos = quat_earth_to_body(orientation, sp:get_pos(1.0))
|
|
|
|
pos = pos + spos
|
|
orientation = sp:get_final_orientation() * orientation
|
|
orientation:normalize()
|
|
|
|
angle = angle + sp:get_roll(1.0, self.lengths[i]/speed)
|
|
roll_correction = roll_correction + sp:get_roll_correction(1.0)
|
|
|
|
if sp.set_orient ~= nil then
|
|
-- override orientation at this point in the sequence
|
|
orientation = sp.set_orient
|
|
end
|
|
|
|
if sp.roll_ref ~= nil then
|
|
local q = Quaternion()
|
|
q:from_axis_angle(makeVector3f(1,0,0), math.rad(sp.roll_ref))
|
|
orientation = orientation * q
|
|
orientation:normalize()
|
|
end
|
|
end
|
|
|
|
-- get our final orientation, including roll
|
|
self.final_orientation = quat_copy(orientation)
|
|
local q = Quaternion()
|
|
q:from_axis_angle(makeVector3f(1,0,0), math.rad(wrap_180(angle)))
|
|
self.final_orientation = q * self.final_orientation
|
|
|
|
-- work out the proportion of the total time we will spend in each sub path
|
|
local total_time = 0
|
|
for i = 1, self.num_sub_paths do
|
|
self.start_time[i] = total_time
|
|
local proportion = self.lengths[i]/self.total_length
|
|
total_time = total_time + proportion
|
|
end
|
|
return self
|
|
end
|
|
|
|
|
|
--[[
|
|
make a list of Path() objects from a list of PathComponent, RollComponent pairs
|
|
--]]
|
|
function make_paths(name, paths)
|
|
local p = {}
|
|
for i = 1, #paths do
|
|
if paths[i][2] == nil then
|
|
p[i] = paths[i][1]
|
|
else
|
|
p[i] = Path(paths[i][1], paths[i][2])
|
|
end
|
|
-- copy over path attributes
|
|
for _, v in pairs(path_attribs) do
|
|
if paths[i][v] ~= nil then
|
|
p[i][v] = paths[i][v]
|
|
end
|
|
end
|
|
end
|
|
return path_composer(name, p)
|
|
end
|
|
|
|
--[[
|
|
composed trajectories, does as individual aerobatic maneuvers
|
|
--]]
|
|
|
|
function climbing_circle(radius, height, bank_angle, arg4)
|
|
return make_paths("climbing_circle", {
|
|
{ path_horizontal_arc(radius, 360, height), roll_angle_entry_exit(bank_angle) },
|
|
})
|
|
end
|
|
|
|
function half_climbing_circle(radius, height, bank_angle, arg4)
|
|
return make_paths("half_climbing_circle", {
|
|
{ path_horizontal_arc(radius, 180, height), roll_angle_entry_exit(bank_angle) },
|
|
})
|
|
end
|
|
|
|
function partial_circle(radius, bank_angle, angle)
|
|
return make_paths("partial_circle", {
|
|
{ path_horizontal_arc(radius, angle, 0), roll_angle_entry_exit(bank_angle) },
|
|
})
|
|
end
|
|
|
|
function loop(radius, bank_angle, num_loops, arg4)
|
|
if not num_loops or num_loops <= 0 then
|
|
num_loops = 1
|
|
end
|
|
return make_paths("loop", {
|
|
{ path_vertical_arc(radius, 360*num_loops), roll_angle_entry_exit(bank_angle) },
|
|
})
|
|
end
|
|
|
|
function straight_roll(length, num_rolls, arg3, arg4)
|
|
return make_paths("straight_roll", {
|
|
{ path_straight(length), roll_angle(num_rolls*360) },
|
|
})
|
|
end
|
|
|
|
--[[
|
|
fly straight until we are distance meters from the composite path
|
|
origin in the maneuver frame along the X axis. If we are already
|
|
past that position then return immediately
|
|
--]]
|
|
function straight_align(distance, arg2, arg3, arg4, start_pos, start_orientation)
|
|
local d2 = distance - start_pos:x()
|
|
local v = quat_earth_to_body(start_orientation, makeVector3f(d2, 0, 0))
|
|
local len = math.max(v:x(),0.01)
|
|
return make_paths("straight_align", {
|
|
{ path_straight(len), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
--[[
|
|
fly straight so that the next maneuver in the sequence ends at
|
|
the given proportion of the aerobatic box
|
|
--]]
|
|
function align_box(alignment, arg2, arg3, arg4)
|
|
return Path(path_align_box(alignment), roll_angle(0))
|
|
end
|
|
|
|
--[[
|
|
fly straight so that the next maneuver in the sequence is centered
|
|
in the aerobatic box
|
|
--]]
|
|
function align_center(arg1, arg2, arg3, arg4)
|
|
return Path(path_align_center(), roll_angle(0))
|
|
end
|
|
|
|
function immelmann_turn(r, arg2, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("immelmann_turn", {
|
|
{ path_vertical_arc(r, 180), roll_angle(0) },
|
|
{ path_straight(rabs), roll_angle(180) },
|
|
})
|
|
end
|
|
|
|
-- immelmann with max roll rate
|
|
function immelmann_turn_fast(r, arg2, arg3, arg4)
|
|
local roll_time = 180.0 / ACRO_ROLL_RATE:get()
|
|
local roll_dist = target_groundspeed() * roll_time
|
|
return make_paths("immelmann_turn_fast", {
|
|
{ path_vertical_arc(r, 180), roll_angle(0) },
|
|
{ path_straight(roll_dist), roll_angle(180) },
|
|
})
|
|
end
|
|
|
|
function humpty_bump(r, h, arg3, arg4)
|
|
assert(h >= 2*r)
|
|
local rabs = math.abs(r)
|
|
return make_paths("humpty_bump", {
|
|
{ path_vertical_arc(r, 90), roll_angle(0) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(0) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(180) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 180), roll_angle(0) },
|
|
{ path_straight(h-2*rabs), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 90), roll_angle(0) },
|
|
{ path_straight(2*rabs), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function laydown_humpty(r, h, arg3, arg4)
|
|
assert(h >= 2*r)
|
|
local rabs = math.abs(r)
|
|
return make_paths("laydown_humpty", {
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(0) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(-90), roll_ref=90 },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(0) },
|
|
{ path_vertical_arc(r, 180), roll_angle(0) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(0) },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(90), roll_ref=-90 },
|
|
{ path_straight((h-2*rabs)/3), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 45), roll_angle(0), roll_ref=180},
|
|
})
|
|
end
|
|
|
|
function split_s(r, arg2, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("split_s", {
|
|
{ path_straight(rabs/2), roll_angle(180) },
|
|
{ path_vertical_arc(-r, 180), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function upline_45(r, height_gain, arg3, arg4)
|
|
--local h = (height_gain - 2*r*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
|
|
local h = (height_gain - (2 * r) + (2 * r * math.cos(math.rad(45)))) / math.cos(math.rad(45))
|
|
assert(h >= 0)
|
|
return make_paths("upline_45", {
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
|
{ path_straight(h), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 45), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function upline_20(r, height_gain, arg3, arg4)
|
|
local h = (height_gain - 2*r*(1.0-math.cos(math.rad(20))))/math.sin(math.rad(20))
|
|
assert(h >= 0)
|
|
return make_paths("upline_45", {
|
|
{ path_vertical_arc(r, 20), roll_angle(0) },
|
|
{ path_straight(h), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 20), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function downline_45(r, height_loss, arg3, arg4)
|
|
local h = (height_loss - 2*r*(1.0-math.cos(math.rad(45))))/math.sin(math.rad(45))
|
|
assert(h >= 0)
|
|
return make_paths("downline_45", {
|
|
{ path_vertical_arc(-r, 45), roll_angle(0) },
|
|
{ path_straight(h), roll_angle(0) },
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function rolling_circle(radius, num_rolls, arg3, arg4)
|
|
return make_paths("rolling_circle", {
|
|
{ path_horizontal_arc(radius, 360), roll_angle(360*num_rolls), thr_boost=true },
|
|
})
|
|
end
|
|
|
|
function barrel_roll(radius, length, num_spirals, arg4)
|
|
local gamma_deg = math.deg(math.atan((length/num_spirals)/(2*math.pi*math.abs(radius))))
|
|
local speed = target_groundspeed()
|
|
local bank = math.deg(math.atan((speed*speed) / (radius * GRAVITY_MSS)))
|
|
local radius2 = radius/(1.0 - math.cos(math.rad(90-gamma_deg)))
|
|
|
|
return make_paths("barrel_roll", {
|
|
{ path_horizontal_arc(-radius2, 90-gamma_deg, 0), roll_angle_entry_exit(-bank) },
|
|
{ path_cylinder(radius, length, num_spirals), roll_angle(0) },
|
|
{ path_horizontal_arc(radius2, 90-gamma_deg, 0), roll_angle_entry_exit(bank) },
|
|
})
|
|
end
|
|
|
|
function side_step(displacement, length, arg3, arg4)
|
|
local speed = target_groundspeed()
|
|
local radius = (displacement*displacement + length*length)/(4*displacement)
|
|
local angle = math.deg(2*math.atan(displacement, length))
|
|
local sign = sgn(displacement)
|
|
local bank = math.deg(math.atan((speed*speed) / (radius * GRAVITY_MSS)))
|
|
|
|
return make_paths("side_step",{
|
|
{path_horizontal_arc(sign*radius, angle, 0), roll_angle_entry_exit(sign*bank)},
|
|
{path_horizontal_arc(-sign*radius, angle, 0) , roll_angle_entry_exit(-sign*bank)},
|
|
})
|
|
end
|
|
|
|
function straight_flight(length, bank_angle, arg3, arg4)
|
|
return make_paths("straight_flight", {
|
|
{ path_straight(length), roll_angle_entry_exit(bank_angle) },
|
|
})
|
|
end
|
|
|
|
function straight_hold(length, bank_angle, arg3, arg4)
|
|
return make_paths("straight_hold", {
|
|
{ path_straight(length), roll_angle_entry(bank_angle) },
|
|
})
|
|
end
|
|
|
|
function scale_figure_eight(r, bank_angle, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("scale_figure_eight", {
|
|
{ path_straight(rabs), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 90), roll_angle_entry_exit(bank_angle) },
|
|
{ path_horizontal_arc(-r, 360), roll_angle_entry_exit(-bank_angle) },
|
|
{ path_horizontal_arc(r, 270), roll_angle_entry_exit(bank_angle) },
|
|
{ path_straight(3*rabs), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function figure_eight(r, bank_angle, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("figure_eight", {
|
|
{ path_straight(rabs*math.sqrt(2)), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 225), roll_angle_entry_exit(bank_angle) },
|
|
{ path_straight(2*rabs), roll_angle(0) },
|
|
{ path_horizontal_arc(-r, 270), roll_angle_entry_exit(-bank_angle) },
|
|
{ path_straight(2*rabs), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 45), roll_angle_entry_exit(bank_angle) },
|
|
})
|
|
end
|
|
|
|
|
|
--[[
|
|
perform a rudder over maneuver
|
|
--]]
|
|
function rudder_over(_direction, _min_speed)
|
|
local self = {}
|
|
local direction = _direction
|
|
local min_speed = _min_speed
|
|
local reached_speed = false
|
|
local kick_started = false
|
|
local pitch2_done = false
|
|
local descent_done = false
|
|
local target_q = nil
|
|
local initial_q = nil
|
|
local last_t = nil
|
|
local initial_z = nil
|
|
local desired_direction = nil
|
|
|
|
--[[
|
|
the update() method is called during the rudder over, it
|
|
should return true when the maneuver is completed
|
|
--]]
|
|
function self.update(path, t, target_speed)
|
|
if descent_done then
|
|
-- we're all done
|
|
return true
|
|
end
|
|
|
|
local ahrs_quat = ahrs:get_quaternion()
|
|
local ahrs_pos = ahrs:get_relative_position_NED_origin()
|
|
local ahrs_gyro = ahrs:get_gyro()
|
|
local now = millis():tofloat() * 0.001
|
|
|
|
if target_q == nil then
|
|
-- initialising
|
|
initial_z = ahrs_pos:z()
|
|
target_q = quat_copy(ahrs_quat)
|
|
initial_q = quat_copy(target_q)
|
|
last_t = now
|
|
end
|
|
|
|
local dt = now - last_t
|
|
last_t = now
|
|
|
|
local error_quat = ahrs_quat:inverse() * target_q
|
|
local rate_rads = Vector3f()
|
|
error_quat:to_axis_angle(rate_rads)
|
|
local tc = ROLL_CORR_TC:get()
|
|
local rate_dps = rate_rads:scale(math.deg(1)/tc)
|
|
|
|
-- use user set throttle for achieving the stall
|
|
local throttle = AEROM_STALL_THR:get()
|
|
local pitch_deg = math.deg(ahrs:get_pitch())
|
|
if reached_speed and not kick_started and math.abs(math.deg(ahrs_gyro:z())) > ACRO_YAW_RATE:get()/3 then
|
|
kick_started = true
|
|
end
|
|
if kick_started then
|
|
-- when we have established some yaw rate cut the throttle to minimum
|
|
throttle = AEROM_THR_MIN:get()
|
|
end
|
|
|
|
vehicle:set_target_throttle_rate_rpy(throttle, rate_dps:x(), rate_dps:y(), rate_dps:z())
|
|
|
|
log_pose('POSM', ahrs_pos, ahrs:get_quaternion())
|
|
log_pose('POST', ahrs_pos, target_q)
|
|
|
|
local current_speed_up = -ahrs:get_velocity_NED():z()
|
|
if not reached_speed and current_speed_up <= min_speed then
|
|
reached_speed = true
|
|
end
|
|
|
|
if not reached_speed then
|
|
return false
|
|
end
|
|
|
|
-- integrate desired attitude through yaw
|
|
local q_rate_rads = makeVector3f(0,0,ahrs_gyro:z())
|
|
if pitch2_done then
|
|
-- stop adding yaw
|
|
q_rate_rads:z(0)
|
|
end
|
|
local rotation = Quaternion()
|
|
rotation:from_angular_velocity(q_rate_rads, dt)
|
|
target_q = target_q * rotation
|
|
target_q:normalize()
|
|
|
|
--[[
|
|
override rudder to maximum, basing PWM on the MIN/MAX of the channel
|
|
according to the desired direction
|
|
--]]
|
|
if desired_direction == nil then
|
|
desired_direction = direction
|
|
if desired_direction == 0 then
|
|
local c_y = get_ahrs_dcm_c_y()
|
|
if c_y > 0 then
|
|
desired_direction = 1
|
|
else
|
|
desired_direction = -1
|
|
end
|
|
end
|
|
end
|
|
if not pitch2_done then
|
|
vehicle:set_rudder_offset(desired_direction * 100, false)
|
|
else
|
|
vehicle:set_rudder_offset(0, true)
|
|
end
|
|
if not kick_started then
|
|
return false
|
|
end
|
|
|
|
-- see if we are nose down
|
|
if kick_started and pitch_deg < AEROM_STALL_PIT:get() and not pitch2_done then
|
|
-- lock onto a descent path
|
|
pitch2_done = true
|
|
target_q = initial_q * qorient(0, 0, 180)
|
|
--[[ correct the attitude to the opposite correction that we
|
|
had at the start of the slowdown, so we fight the wind on
|
|
the way down
|
|
--]]
|
|
local error_q = initial_q:inverse() * qorient(0, 90, math.deg(initial_q:get_euler_yaw()))
|
|
local error_pitch = error_q:get_euler_pitch()
|
|
local error_yaw = error_q:get_euler_yaw()
|
|
target_q = target_q * qorient(0, math.deg(-2*error_pitch), math.deg(2*error_yaw))
|
|
target_q:normalize()
|
|
return false
|
|
end
|
|
|
|
if not pitch2_done or ahrs_pos:z() < initial_z then
|
|
-- haven't finished the descent
|
|
return false
|
|
end
|
|
|
|
-- all done, update state
|
|
descent_done = true
|
|
path_var.tangent = path_var.tangent:scale(-1)
|
|
path_var.path_t = path:get_next_segment_start(t)
|
|
path_var.accumulated_orientation_rel_ef = path_var.accumulated_orientation_rel_ef * qorient(0,0,180)
|
|
path_var.last_time = now
|
|
path_var.last_ang_rate_dps = ahrs_gyro:scale(math.deg(1))
|
|
path_var.pos = rotate_path(path, path_var.path_t, path_var.initial_ori, path_var.initial_ef_pos)
|
|
-- ensure that the path will move fwd on the next step
|
|
path_var.pos:z(path_var.pos:z()-10)
|
|
|
|
return false
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
stall turn is not really correct, as we don't fully stall. Needs to be
|
|
reworked
|
|
--]]
|
|
function stall_turn(radius, height, direction, min_speed)
|
|
local h = height - radius
|
|
assert(h >= 0)
|
|
return make_paths("stall_turn", {
|
|
{ path_vertical_arc(radius, 90), roll_angle(0) },
|
|
{ path_straight(h), roll_angle(0) },
|
|
{ path_reverse(h/4), roll_angle(0), rate_override=rudder_over(direction,min_speed), set_orient=qorient(0,-90,0) },
|
|
{ path_straight(h), roll_angle(0), pos_corr=0.5, shift_xy=true },
|
|
{ path_vertical_arc(-radius, 90), roll_angle(0), set_orient=qorient(0,0,180) },
|
|
})
|
|
end
|
|
|
|
--[[
|
|
takeoff controller
|
|
--]]
|
|
function takeoff_controller(_distance, _thr_slew)
|
|
local self = {}
|
|
local start_time = 0
|
|
local start_pos = nil
|
|
local thr_slew = _thr_slew
|
|
local distance = _distance
|
|
local all_done = false
|
|
local initial_yaw_deg = math.deg(ahrs:get_yaw())
|
|
local yaw_correction_tconst = 1.0
|
|
gcs:send_text(MAV_SEVERITY.INFO,string.format("Takeoff init"))
|
|
|
|
--[[
|
|
the update() method is called during the rudder over, it
|
|
should return true when the maneuver is completed
|
|
--]]
|
|
function self.update(path, t, target_speed)
|
|
if all_done then
|
|
return true
|
|
end
|
|
local now = millis():tofloat() * 0.001
|
|
local ahrs_pos = ahrs:get_relative_position_NED_origin()
|
|
if start_time == 0 then
|
|
gcs:send_text(MAV_SEVERITY.INFO,string.format("Takeoff start"))
|
|
start_time = now
|
|
start_pos = ahrs_pos
|
|
end
|
|
local throttle = constrain(thr_slew * (now - start_time), 0, 100)
|
|
|
|
local yaw_deg = math.deg(ahrs:get_yaw())
|
|
local yaw_err_deg = wrap_180(yaw_deg - initial_yaw_deg)
|
|
local targ_yaw_rate = -yaw_err_deg / yaw_correction_tconst
|
|
|
|
vehicle:set_target_throttle_rate_rpy(throttle, 0, 0, targ_yaw_rate)
|
|
vehicle:set_rudder_offset(0, true)
|
|
local dist_moved = (ahrs_pos - start_pos):length()
|
|
if dist_moved > distance then
|
|
gcs:send_text(MAV_SEVERITY.INFO,string.format("Takeoff complete dist=%.1f", dist_moved))
|
|
|
|
path_var.path_t = path:get_next_segment_start(t)
|
|
path_var.last_time = now
|
|
path_var.last_ang_rate_dps = ahrs:get_gyro():scale(math.deg(1))
|
|
path_var.pos = rotate_path(path, path_var.path_t, path_var.initial_ori, path_var.initial_ef_pos)
|
|
all_done = true
|
|
end
|
|
return false
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
stall turn is not really correct, as we don't fully stall. Needs to be
|
|
reworked
|
|
--]]
|
|
function takeoff(dist, height, thr_slew)
|
|
local angle_deg = 20
|
|
local dist_per_arc = 3*dist/8
|
|
local radius = dist_per_arc / math.sin(math.rad(angle_deg))
|
|
local h1 = dist_per_arc * (1.0 - math.cos(math.rad(angle_deg)))
|
|
local line_h = constrain(height - 2*h1, 0, height)
|
|
local line_len = (line_h - 2*radius*(1.0-math.cos(math.rad(angle_deg))))/math.sin(math.rad(angle_deg))
|
|
|
|
return make_paths("takeoff", {
|
|
{ path_straight(dist/4), roll_angle(0), rate_override=takeoff_controller(dist/4, thr_slew) },
|
|
{ path_vertical_arc(radius, 20), roll_angle(0), pos_gain_mul=0.3 },
|
|
{ path_straight(line_len), roll_angle(0), pos_gain_mul=0.5 },
|
|
{ path_vertical_arc(-radius, 20), roll_angle(0), pos_gain_mul=0.5 },
|
|
})
|
|
end
|
|
|
|
function half_cuban_eight(r, arg2, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("half_cuban_eight", {
|
|
{ path_straight(2*rabs*math.sqrt(2)), roll_angle(0) },
|
|
{ path_vertical_arc(r, 225), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(180) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 45), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function cuban_eight(r, arg2, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("cuban_eight", {
|
|
{ path_straight(rabs*math.sqrt(2)), roll_angle(0) },
|
|
{ path_vertical_arc(r, 225), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(180) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 270), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(180) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function half_reverse_cuban_eight(r, arg2, arg3, arg4)
|
|
local rabs = math.abs(r)
|
|
return make_paths("half_reverse_cuban_eight", {
|
|
{ path_vertical_arc(r, 45), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_straight(2*rabs/3), roll_angle(180) },
|
|
{ path_straight(2*rabs/3), roll_angle(0) },
|
|
{ path_vertical_arc(-r, 225), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function horizontal_rectangle(total_length, total_width, r, bank_angle)
|
|
local l = total_length - 2*r
|
|
local w = total_width - 2*r
|
|
|
|
return make_paths("horizontal_rectangle", {
|
|
{ path_straight(0.5*l), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 90), roll_angle_entry_exit(bank_angle)},
|
|
{ path_straight(w), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 90), roll_angle_entry_exit(bank_angle) },
|
|
{ path_straight(l), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 90), roll_angle_entry_exit(bank_angle) },
|
|
{ path_straight(w), roll_angle(0) },
|
|
{ path_horizontal_arc(r, 90), roll_angle_entry_exit(bank_angle) },
|
|
{ path_straight(0.5*l), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
function vertical_aerobatic_box(total_length, total_width, r, bank_angle)
|
|
local l = total_length - 2*r
|
|
local w = total_width - 2*r
|
|
|
|
return make_paths("vertical_aerobatic_box", {
|
|
{ path_straight(0.5*l), roll_angle_entry(bank_angle) },
|
|
{ path_vertical_arc(r, 90), roll_angle(0) },
|
|
{ path_straight(w), roll_angle(0) },
|
|
{ path_vertical_arc(r, 90), roll_angle(0) },
|
|
{ path_straight(l), roll_angle(0) },
|
|
{ path_vertical_arc(r, 90), roll_angle(0) },
|
|
{ path_straight(w), roll_angle(0) },
|
|
{ path_vertical_arc(r, 90), roll_angle(0) },
|
|
{ path_straight(0.5*l), roll_angle_exit(-bank_angle) },
|
|
})
|
|
end
|
|
|
|
--[[
|
|
a multi-point roll
|
|
- length = total length of straight flight
|
|
- N = number of points of roll for full 360
|
|
- hold_frac = proportion of each segment to hold attitude, will use 0.2 if 0
|
|
- num_points = number of points of the N point roll to do, will use N if 0
|
|
|
|
Note that num_points can be greater than N, for example do 6 points
|
|
of a 4 point roll, resulting in inverted flight
|
|
--]]
|
|
function multi_point_roll(length, N, hold_frac, num_points)
|
|
if hold_frac <= 0 then
|
|
hold_frac = 0.2
|
|
end
|
|
if num_points <= 0 then
|
|
num_points = N
|
|
end
|
|
--[[
|
|
construct a roll sequence to use over the full length
|
|
--]]
|
|
local seq = {}
|
|
local roll_frac = 1.0 - hold_frac
|
|
for i = 1, num_points do
|
|
seq[#seq+1] = { roll_frac, 360 / N }
|
|
if i < num_points then
|
|
seq[#seq+1] = { hold_frac, 0 }
|
|
end
|
|
end
|
|
return make_paths("multi_point_roll", {{ path_straight(length), roll_sequence(seq) }})
|
|
end
|
|
|
|
function eight_point_roll(length, arg2, arg3, arg4)
|
|
return multi_point_roll(length, 8, 0.5)
|
|
end
|
|
|
|
function procedure_turn(radius, bank_angle, step_out, arg4)
|
|
local rabs = math.abs(radius)
|
|
return make_paths("procedure_turn", {
|
|
{ path_horizontal_arc(radius, 90), roll_angle_entry_exit(bank_angle) },
|
|
{ path_straight(step_out), roll_angle(0) },
|
|
{ path_horizontal_arc(-radius, 270), roll_angle_entry_exit(-bank_angle) },
|
|
{ path_straight(3*rabs), roll_angle(0) },
|
|
})
|
|
end
|
|
|
|
---------------------------------------------------
|
|
|
|
--[[
|
|
target speed is taken as max of target airspeed and current 3D
|
|
velocity at the start of the maneuver
|
|
--]]
|
|
function target_groundspeed()
|
|
return math.max(ahrs:get_EAS2TAS()*TRIM_ARSPD_CM:get()*0.01, ahrs:get_velocity_NED():length())
|
|
end
|
|
|
|
--[[
|
|
get ground course from AHRS
|
|
--]]
|
|
function get_ground_course_deg()
|
|
local vned = ahrs:get_velocity_NED()
|
|
return wrap_180(math.deg(math.atan(vned:y(), vned:x())))
|
|
end
|
|
|
|
|
|
--args:
|
|
-- path_f: path function returning position
|
|
-- t: normalised [0, 1] time
|
|
-- arg1, arg2: arguments for path function
|
|
-- orientation: maneuver frame orientation
|
|
--returns: requested position, angle and speed in maneuver frame
|
|
function rotate_path(path_f, t0, orientation, offset)
|
|
local t = constrain(t0, 0, 1)
|
|
local point = path_f:get_pos(t)
|
|
local angle = path_f:get_roll(t)
|
|
local roll_correction = path_f:get_roll_correction(t)
|
|
|
|
local attrib = {}
|
|
for _, v in pairs(path_attribs) do
|
|
attrib[v] = path_f:get_attribute(t, v)
|
|
end
|
|
point = point + path_var.path_shift
|
|
point = quat_earth_to_body(orientation, point)
|
|
|
|
local scale = AEROM_PATH_SCALE:get()
|
|
point = point:scale(math.abs(scale))
|
|
if scale < 0 then
|
|
-- we need to mirror the path
|
|
point:y(-point:y())
|
|
roll_correction = -roll_correction
|
|
angle = -angle
|
|
-- compensate path orientation for the mirroring
|
|
local orient = orientation:inverse()
|
|
point = quat_body_to_earth((orient * orient), point)
|
|
end
|
|
|
|
return point+offset, math.rad(angle+roll_correction), attrib
|
|
end
|
|
|
|
--Given vec1, vec2, returns an (rotation axis, angle) tuple that rotates vec1 to be parallel to vec2
|
|
--If vec1 and vec2 are already parallel, returns a zero vector and zero angle
|
|
--Note that the rotation will not be unique.
|
|
function vectors_to_rotation(vector1, vector2)
|
|
local axis = vector1:cross(vector2)
|
|
if axis:length() < 0.00001 then
|
|
local vec = Vector3f()
|
|
vec:x(1)
|
|
return vec, 0
|
|
end
|
|
axis:normalize()
|
|
local angle = vector1:angle(vector2)
|
|
return axis, angle
|
|
end
|
|
|
|
--returns Quaternion
|
|
function vectors_to_rotation_w_roll(vector1, vector2, roll)
|
|
local axis, angle = vectors_to_rotation(vector1, vector2)
|
|
local vector_rotation = Quaternion()
|
|
vector_rotation:from_axis_angle(axis, angle)
|
|
|
|
local roll_rotation = Quaternion()
|
|
roll_rotation:from_euler(roll, 0, 0)
|
|
|
|
local total_rot = vector_rotation*roll_rotation
|
|
return to_axis_and_angle(total_rot)
|
|
end
|
|
|
|
--Given vec1, vec2, returns an angular velocity tuple that rotates vec1 to be parallel to vec2
|
|
--If vec1 and vec2 are already parallel, returns a zero vector and zero angle
|
|
function vectors_to_angular_rate(vector1, vector2, time_constant)
|
|
local axis, angle = vectors_to_rotation(vector1, vector2)
|
|
local angular_velocity = angle/time_constant
|
|
return axis:scale(angular_velocity)
|
|
end
|
|
|
|
function vectors_to_angular_rate_w_roll(vector1, vector2, time_constant, roll)
|
|
local axis, angle = vectors_to_rotation_w_roll(vector1, vector2, roll)
|
|
local angular_velocity = angle/time_constant
|
|
return axis:scale(angular_velocity)
|
|
end
|
|
|
|
-- convert a quaternion to axis angle form
|
|
function to_axis_and_angle(quat)
|
|
local axis_angle = Vector3f()
|
|
quat:to_axis_angle(axis_angle)
|
|
local angle = axis_angle:length()
|
|
if angle < 0.00001 then
|
|
return makeVector3f(1.0, 0.0, 0.0), 0.0
|
|
end
|
|
return axis_angle:scale(1.0/angle), angle
|
|
end
|
|
|
|
--projects x onto the othogonal subspace of span(unit_v)
|
|
function ortho_proj(x, unit_v)
|
|
local temp_x = unit_v:cross(x)
|
|
return unit_v:cross(temp_x)
|
|
end
|
|
|
|
-- log a pose from position and quaternion attitude
|
|
function log_pose(logname, pos, quat)
|
|
logger.write(logname, 'px,py,pz,q1,q2,q3,q4,r,p,y', 'ffffffffff',
|
|
pos:x(),
|
|
pos:y(),
|
|
pos:z(),
|
|
quat:q1(),
|
|
quat:q2(),
|
|
quat:q3(),
|
|
quat:q4(),
|
|
math.deg(quat:get_euler_roll()),
|
|
math.deg(quat:get_euler_pitch()),
|
|
math.deg(quat:get_euler_yaw()))
|
|
end
|
|
|
|
|
|
function log_position(logname, loc, quat)
|
|
local gps_last_fix_ms1 = gps:last_fix_time_ms(0)
|
|
local gps_week = gps:time_week(0)
|
|
local gps_week_ms = gps:time_week_ms(0)
|
|
local gps_last_fix_ms2 = gps:last_fix_time_ms(0)
|
|
local now_ms = millis()
|
|
if gps_last_fix_ms2 ~= gps_last_fix_ms1 then
|
|
-- we got a new fix while requesting the values. fetch again,
|
|
-- and assume we won't get another fix during these calls
|
|
gps_week = gps:time_week(0)
|
|
gps_week_ms = gps:time_week_ms(0)
|
|
end
|
|
gps_week_ms = gps_week_ms + (now_ms - gps_last_fix_ms2)
|
|
|
|
logger.write(logname, 'I,GWk,GMS,Lat,Lon,Alt,R,P,Y',
|
|
'BHILLffff',
|
|
'#--DU----',
|
|
'---GG----',
|
|
SYSID_THISMAV:get(),
|
|
gps_week,
|
|
gps_week_ms,
|
|
loc:lat(),
|
|
loc:lng(),
|
|
loc:alt()*0.01,
|
|
math.deg(quat:get_euler_roll()),
|
|
math.deg(quat:get_euler_pitch()),
|
|
math.deg(quat:get_euler_yaw()))
|
|
end
|
|
|
|
--[[
|
|
check if a number is Nan.
|
|
--]]
|
|
function isNaN(value)
|
|
-- NaN is lua is not equal to itself
|
|
return value ~= value
|
|
end
|
|
|
|
function Vec3IsNaN(v)
|
|
return isNaN(v:x()) or isNaN(v:y()) or isNaN(v:z())
|
|
end
|
|
|
|
function qIsNaN(q)
|
|
return isNaN(q:q1()) or isNaN(q:q2()) or isNaN(q:q3()) or isNaN(q:q4())
|
|
end
|
|
|
|
--[[
|
|
return the body y projection down, this is the c.y element of the equivalent rotation matrix
|
|
--]]
|
|
function quat_projection_ground_plane(q)
|
|
local q1q2 = q:q1() * q:q2()
|
|
local q3q4 = q:q3() * q:q4()
|
|
return 2.0 * (q3q4 + q1q2)
|
|
end
|
|
|
|
|
|
--[[
|
|
calculate rudder offset
|
|
--]]
|
|
function calculate_rudder_offset(ahrs_quat, ahrs_gyro, airspeed_constrained)
|
|
--[[
|
|
look ahead for what our y projection will be at AEROM_KE_RUDD_LK
|
|
seconds forward in time
|
|
--]]
|
|
local qchange = Quaternion()
|
|
qchange:from_angular_velocity(ahrs_gyro, -AEROM_KE_RUDD_LK:get())
|
|
local qnew = qchange * ahrs_quat
|
|
|
|
local airspeed_scaling = SCALING_SPEED:get()/airspeed_constrained
|
|
local y_projection = get_quat_dcm_c_y(qnew:inverse())
|
|
local rudder_ofs = -y_projection * AEROM_KE_RUDD:get() * sq(airspeed_scaling)
|
|
rudder_ofs = constrain(rudder_ofs, -100, 100)
|
|
|
|
return rudder_ofs
|
|
end
|
|
|
|
--[[
|
|
convert a table of bytes to a lua string
|
|
--]]
|
|
function bytes_to_string(bytes)
|
|
local ret = {}
|
|
for _, b in ipairs(bytes) do
|
|
if b == 0 then
|
|
break
|
|
end
|
|
table.insert(ret, string.char(b))
|
|
end
|
|
return table.concat(ret)
|
|
end
|
|
|
|
--[[
|
|
a lua implementation of the jitter correction algorithm from libraries/AP_RTC
|
|
|
|
note that the use of a 32 bit float lua number for a uint32_t
|
|
milliseconds means we lose accuracy over time. At 9 hours we have
|
|
an accuracy of about 1 millisecond
|
|
--]]
|
|
local function JitterCorrection(_max_lag_ms, _convergence_loops)
|
|
local self = {}
|
|
|
|
local max_lag_ms = _max_lag_ms
|
|
local convergence_loops = _convergence_loops
|
|
local link_offset_ms = 0
|
|
local min_sample_ms = 0
|
|
local initialised = false
|
|
local min_sample_counter = 0
|
|
|
|
function self.correct_offboard_timestamp_msec(offboard_ms, local_ms)
|
|
local diff_ms = local_ms - offboard_ms
|
|
if not initialised or diff_ms < link_offset_ms then
|
|
--[[
|
|
this message arrived from the remote system with a
|
|
timestamp that would imply the message was from the
|
|
future. We know that isn't possible, so we adjust down the
|
|
correction value
|
|
--]]
|
|
link_offset_ms = diff_ms
|
|
initialised = true
|
|
end
|
|
|
|
local estimate_ms = offboard_ms + link_offset_ms
|
|
|
|
if estimate_ms + max_lag_ms < local_ms then
|
|
--[[
|
|
this implies the message came from too far in the past. clamp the lag estimate
|
|
to assume the message had maximum lag
|
|
--]]
|
|
estimate_ms = local_ms - max_lag_ms
|
|
link_offset_ms = estimate_ms - offboard_ms
|
|
end
|
|
|
|
if min_sample_counter == 0 then
|
|
min_sample_ms = diff_ms
|
|
end
|
|
|
|
min_sample_counter = (min_sample_counter+1)
|
|
if diff_ms < min_sample_ms then
|
|
min_sample_ms = diff_ms
|
|
end
|
|
if min_sample_counter == convergence_loops then
|
|
--[[
|
|
we have the requested number of samples of the transport
|
|
lag for convergence. To account for long term clock drift
|
|
we set the diff we will use in future to this value
|
|
--]]
|
|
link_offset_ms = min_sample_ms
|
|
min_sample_counter = 0
|
|
end
|
|
|
|
return estimate_ms
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
import mavlink support for NAMED_VALUE_FLOAT, only used for
|
|
DUAL_AIRCRAFT operation
|
|
--]]
|
|
local function mavlink_receiver()
|
|
local self = {}
|
|
local mavlink_msgs = require("mavlink_msgs")
|
|
local NAMED_VALUE_FLOAT_msgid = mavlink_msgs.get_msgid("NAMED_VALUE_FLOAT")
|
|
local msg_map = {}
|
|
local jitter_correction = JitterCorrection(5000, 100)
|
|
|
|
msg_map[NAMED_VALUE_FLOAT_msgid] = "NAMED_VALUE_FLOAT"
|
|
|
|
-- initialise mavlink rx with number of messages, and buffer depth
|
|
mavlink.init(1, 10)
|
|
|
|
-- register message id to receive
|
|
mavlink.register_rx_msgid(NAMED_VALUE_FLOAT_msgid)
|
|
|
|
--[[
|
|
get a NAMED_VALUE_FLOAT incoming message, handling jitter correction
|
|
--]]
|
|
function self.get_named_value_float()
|
|
local msg,_,timestamp_ms = mavlink.receive_chan()
|
|
if msg then
|
|
local parsed_msg = mavlink_msgs.decode(msg, msg_map)
|
|
if (parsed_msg ~= nil) and (parsed_msg.msgid == NAMED_VALUE_FLOAT_msgid) then
|
|
-- convert remote timestamp to local timestamp with jitter correction
|
|
local time_boot_ms = jitter_correction.correct_offboard_timestamp_msec(parsed_msg.time_boot_ms, timestamp_ms:toint())
|
|
local value = parsed_msg.value
|
|
local name = bytes_to_string(parsed_msg.name)
|
|
return time_boot_ms, name, value, parsed_msg.sysid
|
|
end
|
|
end
|
|
return nil
|
|
end
|
|
|
|
return self
|
|
end
|
|
|
|
local mavlink_handler = nil
|
|
if option_set(OPTIONS.DUAL_AIRCRAFT) then
|
|
mavlink_handler = mavlink_receiver()
|
|
end
|
|
|
|
--[[
|
|
handle NAMED_VALUE_FLOAT from another vehicle to sync our schedules
|
|
--]]
|
|
function handle_speed_adjustment()
|
|
local local_t = millis():tofloat() * 0.001
|
|
local named_float_rate = AEROM_TS_RATE:get()
|
|
local loc_timestamp = current_task.fn:patht_to_timestamp(path_var.path_t)
|
|
if named_float_rate > 0 and loc_timestamp > 1 and local_t - last_named_float_send_t > 1.0/named_float_rate then
|
|
last_named_float_send_t = local_t
|
|
gcs:send_named_float("PATHT", loc_timestamp)
|
|
end
|
|
local time_boot_ms, name, remote_timestamp, sysid = mavlink_handler.get_named_value_float()
|
|
if not time_boot_ms then
|
|
return
|
|
end
|
|
-- gcs:send_text(MAV_SEVERITY.INFO, string.format("NVF: name='%s' value=%f sysid=%d tbm=%f", name, remote_timestamp, sysid, time_boot_ms))
|
|
if name == "PATHT" and sysid ~= SYSID_THISMAV:get() then
|
|
local remote_t = time_boot_ms * 0.001
|
|
local dt = local_t - remote_t
|
|
local rem_patht = current_task.fn:timestamp_to_patht(remote_timestamp)
|
|
local adjusted_rem_path_t = rem_patht + dt / path_var.total_time
|
|
local dist_err = (path_var.path_t - adjusted_rem_path_t) * path_var.total_time * path_var.target_speed
|
|
|
|
if loc_timestamp > 1 and remote_timestamp > 1 then
|
|
path_var.speed_adjustment = speed_adjustment_PI.update(dist_err)
|
|
else
|
|
path_var.speed_adjustment = 0.0
|
|
end
|
|
|
|
logger.write("PTHT",'SysID,RemT,LocT,TS,RemTS,PathT,RemPathT,Dt,ARPT,DE,SA','Bffffffffff',
|
|
sysid, remote_t, local_t,
|
|
loc_timestamp,
|
|
remote_timestamp,
|
|
path_var.path_t, rem_patht,
|
|
dt, adjusted_rem_path_t, dist_err, path_var.speed_adjustment)
|
|
end
|
|
end
|
|
|
|
path_var.count = 0
|
|
|
|
function do_path()
|
|
local now = millis():tofloat() * 0.001
|
|
local ahrs_pos_NED = ahrs:get_relative_position_NED_origin()
|
|
local ahrs_pos = ahrs:get_position()
|
|
local ahrs_gyro = ahrs:get_gyro()
|
|
local ahrs_velned = ahrs:get_velocity_NED()
|
|
local ahrs_airspeed = ahrs:airspeed_estimate()
|
|
--[[
|
|
ahrs_quat is the quaterion which when used with quat_earth_to_body() rotates a vector
|
|
from earth to body frame. It needs to be the inverse of ahrs:get_quaternion()
|
|
--]]
|
|
local ahrs_quat = ahrs:get_quaternion():inverse()
|
|
|
|
path_var.count = path_var.count + 1
|
|
local path = current_task.fn
|
|
|
|
if not current_task.started then
|
|
local initial_yaw_deg = current_task.initial_yaw_deg
|
|
current_task.started = true
|
|
|
|
local speed = target_groundspeed()
|
|
path_var.target_speed = speed
|
|
path_var.speed_adjustment = 0.0
|
|
|
|
path_var.length = path:get_length() * math.abs(AEROM_PATH_SCALE:get())
|
|
|
|
path_var.total_rate_rads_ef = makeVector3f(0.0, 0.0, 0.0)
|
|
|
|
--assuming constant velocity
|
|
path_var.total_time = path_var.length/speed
|
|
|
|
--deliberately only want yaw component, because the maneuver should be performed relative to the earth, not relative to the initial orientation
|
|
path_var.initial_ori = Quaternion()
|
|
path_var.initial_ori:from_euler(0, 0, math.rad(initial_yaw_deg))
|
|
path_var.initial_ori = path_var.initial_ori
|
|
path_var.initial_ori:normalize()
|
|
|
|
path_var.initial_ef_pos = ahrs_pos_NED:copy()
|
|
|
|
path_var.start_pos = ahrs_pos:copy()
|
|
path_var.path_int = path_var.start_pos:copy()
|
|
|
|
speed_PI.reset()
|
|
|
|
path_var.accumulated_orientation_rel_ef = path_var.initial_ori
|
|
|
|
path_var.time_correction = 0.0
|
|
|
|
path_var.filtered_angular_velocity = Vector3f()
|
|
|
|
path_var.last_time = now - 1.0/LOOP_RATE
|
|
path_var.last_ang_rate_dps = ahrs_gyro:scale(math.deg(1))
|
|
|
|
path_var.path_t = 0.0
|
|
|
|
path_var.pos = path_var.initial_ef_pos:copy()
|
|
path_var.roll = 0.0
|
|
path_var.last_shift_xy = nil
|
|
path_var.path_shift = Vector3f()
|
|
|
|
path_var.ss_angle = 0.0
|
|
path_var.ss_angle_filt = 0.0
|
|
path_var.last_rate_override = 0
|
|
|
|
path.highest_i = 0
|
|
|
|
-- get initial tangent
|
|
local p1, _ = rotate_path(path, path_var.path_t + 0.1/(path_var.total_time*LOOP_RATE),
|
|
path_var.initial_ori, path_var.initial_ef_pos)
|
|
path_var.tangent = p1 - path_var.pos
|
|
return true
|
|
end
|
|
|
|
local vel_length = ahrs_velned:length()
|
|
|
|
local actual_dt = now - path_var.last_time
|
|
if actual_dt < 0.25 / LOOP_RATE then
|
|
-- the update has been executed too soon
|
|
return true
|
|
end
|
|
|
|
path_var.last_time = now
|
|
|
|
local local_n_dt = (1.0/LOOP_RATE)/path_var.total_time
|
|
|
|
if path_var.path_t + local_n_dt > 1.0 then
|
|
-- all done
|
|
return false
|
|
end
|
|
|
|
if option_set(OPTIONS.DUAL_AIRCRAFT) then
|
|
handle_speed_adjustment()
|
|
end
|
|
|
|
-- airspeed, assume we don't go below min
|
|
local airspeed_constrained = math.max(ARSPD_FBW_MIN:get(), ahrs_airspeed)
|
|
|
|
--[[
|
|
calculate positions and angles at previous, current and next time steps
|
|
--]]
|
|
|
|
local p0 = path_var.pos:copy()
|
|
local r0 = path_var.roll
|
|
local p1, _, attrib = rotate_path(path, path_var.path_t + local_n_dt,
|
|
path_var.initial_ori, path_var.initial_ef_pos)
|
|
|
|
local current_measured_pos_ef = ahrs_pos_NED:copy()
|
|
|
|
if attrib.rate_override ~= nil then
|
|
if not attrib.rate_override.update(path, path_var.path_t + local_n_dt, path_var.target_speed) then
|
|
-- not done yet
|
|
path_var.pos = current_measured_pos_ef
|
|
path_var.last_rate_override = now
|
|
return true
|
|
end
|
|
end
|
|
|
|
--[[
|
|
see if this path element has a shift_xy attribute
|
|
--]]
|
|
local shift_xy = attrib.shift_xy
|
|
if shift_xy and not path_var.last_shift_xy then
|
|
--[[
|
|
we have entered a new sub-element with a shift_xy
|
|
--]]
|
|
local curpos_mf = quat_body_to_earth(path_var.initial_ori, current_measured_pos_ef)
|
|
local pathpos_mf = quat_body_to_earth(path_var.initial_ori, p1)
|
|
local shift = curpos_mf - pathpos_mf
|
|
shift:z(0)
|
|
path_var.path_shift = path_var.path_shift + shift
|
|
local shift_ef = quat_earth_to_body(path_var.initial_ori, shift)
|
|
p1 = p1 + shift_ef
|
|
p0:y(p1:y())
|
|
p0:x(p1:x())
|
|
end
|
|
path_var.last_shift_xy = shift_xy
|
|
|
|
--[[
|
|
get tangents to the path
|
|
--]]
|
|
local tangent1_ef = path_var.tangent:copy()
|
|
local tangent2_ef = p1 - p0
|
|
|
|
local tv_unit = tangent2_ef:copy()
|
|
if tv_unit:length() < 0.00001 then
|
|
gcs:send_text(MAV_SEVERITY.EMERGENCY, string.format("path not advancing %f", tv_unit:length()))
|
|
end
|
|
tv_unit:normalize()
|
|
|
|
--[[
|
|
use actual vehicle velocity to calculate how far along the
|
|
path we have progressed
|
|
--]]
|
|
local v = ahrs_velned:copy()
|
|
local path_dist = v:dot(tv_unit)*actual_dt
|
|
if path_dist < 0 and path_var.last_rate_override > 0 and now - path_var.last_rate_override > 1 then
|
|
gcs:send_text(MAV_SEVERITY.EMERGENCY, string.format("aborting %.2f at %d tv=(%.2f,%.2f,%.2f) vx=%.2f adt=%.2f",
|
|
path_dist, path_var.count,
|
|
tangent2_ef:x(),
|
|
tangent2_ef:y(),
|
|
tangent2_ef:z(),
|
|
v:x(), actual_dt))
|
|
if option_set(OPTIONS.ABORT_RTL) and vehicle:get_mode() == MODE_AUTO then
|
|
vehicle:set_mode(MODE_RTL)
|
|
end
|
|
path_var.last_rate_override = 0
|
|
return false
|
|
end
|
|
local path_t_delta = constrain(path_dist/path_var.length, 0.2*local_n_dt, 4*local_n_dt)
|
|
|
|
--[[
|
|
recalculate the current path position and angle based on actual delta time
|
|
--]]
|
|
p1, _, _ = rotate_path(path,
|
|
constrain(path_var.path_t + path_t_delta, 0, 1),
|
|
path_var.initial_ori, path_var.initial_ef_pos)
|
|
local last_path_t = path_var.path_t
|
|
path_var.path_t = path_var.path_t + path_t_delta
|
|
|
|
-- tangents needs to be recalculated
|
|
tangent2_ef = p1 - p0
|
|
tv_unit = tangent2_ef:copy()
|
|
tv_unit:normalize()
|
|
|
|
-- error in position versus current point on the path
|
|
local pos_error_ef = current_measured_pos_ef - p1
|
|
|
|
--[[
|
|
calculate a time correction. We first get the projection of
|
|
the position error onto the track. This tells us how far we
|
|
are ahead or behind on the track
|
|
--]]
|
|
local path_dist_err_m = tv_unit:dot(pos_error_ef)
|
|
|
|
-- normalize against the total path length
|
|
local path_err_t = path_dist_err_m / path_var.length
|
|
|
|
-- don't allow the path to go backwards in time, or faster than twice the actual rate
|
|
path_err_t = constrain(path_err_t, -0.9*path_t_delta, 2*path_t_delta)
|
|
|
|
-- correct time to bring us back into sync
|
|
path_var.path_t = path_var.path_t + TIME_CORR_P:get() * path_err_t
|
|
|
|
-- get the path again with the corrected time
|
|
local r1
|
|
p1, r1, attrib = rotate_path(path,
|
|
constrain(path_var.path_t, 0, 1),
|
|
path_var.initial_ori, path_var.initial_ef_pos)
|
|
-- recalculate the tangent to match the amount we advanced the path time
|
|
tangent2_ef = p1 - p0
|
|
|
|
-- get the real world time corresponding to the quaternion change
|
|
local q_change_t = (path_var.path_t - last_path_t) * path_var.total_time
|
|
|
|
-- low pass filter the demanded roll angle
|
|
r1 = path_var.roll + wrap_pi(r1 - path_var.roll)
|
|
local alpha = calc_lowpass_alpha(q_change_t, AEROM_ANG_TC:get())
|
|
r1 = (1.0 - alpha) * path_var.roll + alpha * r1
|
|
r1 = wrap_pi(r1)
|
|
|
|
path_var.tangent = tangent2_ef:copy()
|
|
path_var.pos = p1:copy()
|
|
path_var.roll = r1
|
|
|
|
|
|
--[[
|
|
calculation of error correction, calculating acceleration
|
|
needed to bring us back on the path, and body rates in pitch and
|
|
yaw to achieve those accelerations
|
|
--]]
|
|
|
|
-- component of pos_err perpendicular to the current path tangent
|
|
local B = ortho_proj(pos_error_ef, tv_unit)
|
|
|
|
-- derivative of pos_err perpendicular to the current path tangent, assuming tangent is constant
|
|
local B_dot = ortho_proj(v, tv_unit)
|
|
|
|
-- gains for error correction.
|
|
local acc_err_ef = B:scale(ERR_CORR_P:get()) + B_dot:scale(ERR_CORR_D:get())
|
|
|
|
if attrib.pos_gain_mul then
|
|
-- allow for reduced gains during some maneuvers like takeoff
|
|
acc_err_ef = acc_err_ef:scale(attrib.pos_gain_mul)
|
|
end
|
|
|
|
-- scale by per-maneuver error correction scale factor
|
|
acc_err_ef = acc_err_ef:scale(attrib.pos_corr or 1.0)
|
|
|
|
local acc_err_bf = quat_earth_to_body(ahrs_quat, acc_err_ef)
|
|
|
|
local TAS = constrain(ahrs:get_EAS2TAS()*airspeed_constrained, 3, 100)
|
|
local corr_rate_bf_y_rads = -acc_err_bf:z()/TAS
|
|
local corr_rate_bf_z_rads = acc_err_bf:y()/TAS
|
|
|
|
local cor_ang_vel_bf_rads = makeVector3f(0.0, corr_rate_bf_y_rads, corr_rate_bf_z_rads)
|
|
if Vec3IsNaN(cor_ang_vel_bf_rads) then
|
|
cor_ang_vel_bf_rads = makeVector3f(0,0,0)
|
|
end
|
|
local cor_ang_vel_bf_dps = cor_ang_vel_bf_rads:scale(math.deg(1))
|
|
|
|
if path_var.count < 2 then
|
|
cor_ang_vel_bf_dps = Vector3f()
|
|
end
|
|
|
|
--[[
|
|
work out body frame path rate, this is based on two adjacent tangents on the path
|
|
--]]
|
|
local path_rate_ef_rads = tangents_to_rate(tangent1_ef, tangent2_ef, actual_dt)
|
|
if Vec3IsNaN(path_rate_ef_rads) then
|
|
gcs:send_text(MAV_SEVERITY.EMERGENCY,string.format("path_rate_ef_rads: NaN"))
|
|
path_rate_ef_rads = makeVector3f(0,0,0)
|
|
end
|
|
local path_rate_ef_dps = path_rate_ef_rads:scale(math.deg(1))
|
|
if path_var.count < 3 then
|
|
-- cope with small initial misalignment
|
|
path_rate_ef_dps:z(0)
|
|
end
|
|
local path_rate_bf_dps = quat_earth_to_body(ahrs_quat, path_rate_ef_dps)
|
|
|
|
-- set the path roll rate
|
|
path_rate_bf_dps:x(math.deg(wrap_pi(r1 - r0)/actual_dt))
|
|
|
|
|
|
--[[
|
|
calculate body frame roll rate to achieved the desired roll
|
|
angle relative to the maneuver path
|
|
--]]
|
|
local zero_roll_angle_delta = Quaternion()
|
|
zero_roll_angle_delta:from_angular_velocity(path_rate_ef_rads, actual_dt)
|
|
path_var.accumulated_orientation_rel_ef = zero_roll_angle_delta*path_var.accumulated_orientation_rel_ef
|
|
path_var.accumulated_orientation_rel_ef:normalize()
|
|
|
|
local mf_axis = quat_earth_to_body(path_var.accumulated_orientation_rel_ef, makeVector3f(1, 0, 0))
|
|
|
|
local orientation_rel_mf_with_roll_angle = Quaternion()
|
|
orientation_rel_mf_with_roll_angle:from_axis_angle(mf_axis, r1)
|
|
orientation_rel_ef_with_roll_angle = orientation_rel_mf_with_roll_angle*path_var.accumulated_orientation_rel_ef
|
|
|
|
--[[
|
|
calculate the error correction for the roll versus the desired roll
|
|
--]]
|
|
local roll_error = orientation_rel_ef_with_roll_angle * ahrs_quat
|
|
roll_error:normalize()
|
|
local err_axis_ef, err_angle_rad = to_axis_and_angle(roll_error)
|
|
local time_const_roll = ROLL_CORR_TC:get()
|
|
local err_angle_rate_ef_rads = err_axis_ef:scale(err_angle_rad/time_const_roll)
|
|
local err_angle_rate_bf_dps = quat_earth_to_body(ahrs_quat,err_angle_rate_ef_rads):scale(math.deg(1))
|
|
-- zero any non-roll components
|
|
err_angle_rate_bf_dps:y(0)
|
|
err_angle_rate_bf_dps:z(0)
|
|
|
|
--[[
|
|
implement lookahead for path rates
|
|
--]]
|
|
if AEROM_LKAHD:get() > 0 then
|
|
local lookahead = AEROM_LKAHD:get()
|
|
local lookahead_vt = lookahead / path_var.total_time
|
|
p2 = rotate_path(path,
|
|
constrain(path_var.path_t+lookahead_vt, 0, 1),
|
|
path_var.initial_ori, path_var.initial_ef_pos)
|
|
local tangent3_ef = p2 - p1
|
|
local lk_ef_rads = tangents_to_rate(tangent2_ef, tangent3_ef, 0.5*(lookahead+(1.0/LOOP_RATE)))
|
|
|
|
-- scale for airspeed
|
|
lk_ef_rads = lk_ef_rads:scale(sq(vel_length/path_var.target_speed))
|
|
|
|
local lookahead_bf_rads = quat_earth_to_body(ahrs_quat, lk_ef_rads)
|
|
local lookahead_bf_dps = lookahead_bf_rads:scale(math.deg(1))
|
|
logger.write('AELK','Py,Ly,Pz,Lz', 'ffff',
|
|
path_rate_bf_dps:y(),
|
|
lookahead_bf_dps:y(),
|
|
path_rate_bf_dps:z(),
|
|
lookahead_bf_dps:z())
|
|
path_rate_bf_dps:y(lookahead_bf_dps:y())
|
|
path_rate_bf_dps:z(lookahead_bf_dps:z())
|
|
end
|
|
|
|
--[[
|
|
calculate an additional yaw rate to get us to the right angle of sideslip for knifeedge
|
|
--]]
|
|
-- local sideslip_rate_bf_dps = calculate_side_slip_aoa(path_rate_bf_dps, ahrs_quat, airspeed_constrained, tv_unit, ahrs_velned, actual_dt)
|
|
local sideslip_rate_bf_dps = Vector3f()
|
|
|
|
--[[
|
|
total angular rate is sum of path rate, correction rate and roll correction rate
|
|
--]]
|
|
local tot_ang_vel_bf_dps = path_rate_bf_dps + cor_ang_vel_bf_dps + err_angle_rate_bf_dps + sideslip_rate_bf_dps
|
|
|
|
--[[
|
|
apply angular accel limit
|
|
--]]
|
|
local ang_rate_diff_dps = tot_ang_vel_bf_dps - path_var.last_ang_rate_dps
|
|
local max_delta_dps = AEROM_ANG_ACCEL:get() * actual_dt
|
|
local max_delta_yaw_dps = max_delta_dps
|
|
if AEROM_YAW_ACCEL:get() > 0 and
|
|
(AEROM_YAW_ACCEL:get() < AEROM_ANG_ACCEL:get() or AEROM_ANG_ACCEL:get() <= 0) then
|
|
max_delta_yaw_dps = AEROM_YAW_ACCEL:get() * actual_dt
|
|
end
|
|
if max_delta_dps > 0 then
|
|
ang_rate_diff_dps:x(constrain(ang_rate_diff_dps:x(), -max_delta_dps, max_delta_dps))
|
|
ang_rate_diff_dps:y(constrain(ang_rate_diff_dps:y(), -max_delta_dps, max_delta_dps))
|
|
end
|
|
if max_delta_yaw_dps > 0 then
|
|
ang_rate_diff_dps:z(constrain(ang_rate_diff_dps:z(), -max_delta_yaw_dps, max_delta_yaw_dps))
|
|
end
|
|
|
|
tot_ang_vel_bf_dps = path_var.last_ang_rate_dps + ang_rate_diff_dps
|
|
path_var.last_ang_rate_dps = tot_ang_vel_bf_dps
|
|
|
|
--[[
|
|
calculate a rudder offset for knife-edge
|
|
--]]
|
|
local rudder_offset_pct = 0
|
|
if AEROM_KE_RUDD:get() > 0 then
|
|
rudder_offset_pct = calculate_rudder_offset(ahrs_quat, ahrs_gyro, airspeed_constrained)
|
|
end
|
|
|
|
--[[
|
|
log POSM is pose-measured, POST is pose-track, POSB is pose-track without the roll
|
|
--]]
|
|
log_pose('POSM', current_measured_pos_ef, ahrs_quat:inverse())
|
|
log_pose('POST', p1, orientation_rel_ef_with_roll_angle)
|
|
|
|
logger.write('AETM', 'T,Terr,QCt,Adt','ffff',
|
|
path_var.path_t,
|
|
path_err_t,
|
|
q_change_t,
|
|
actual_dt)
|
|
|
|
logger.write('AERT','Cx,Cy,Cz,Px,Py,Pz,Ex,Tx,Ty,Tz,Perr,Aerr,Yff,Rofs', 'ffffffffffffff',
|
|
cor_ang_vel_bf_dps:x(), cor_ang_vel_bf_dps:y(), cor_ang_vel_bf_dps:z(),
|
|
path_rate_bf_dps:x(), path_rate_bf_dps:y(), path_rate_bf_dps:z(),
|
|
err_angle_rate_bf_dps:x(),
|
|
tot_ang_vel_bf_dps:x(), tot_ang_vel_bf_dps:y(), tot_ang_vel_bf_dps:z(),
|
|
pos_error_ef:length(),
|
|
wrap_180(math.deg(err_angle_rad)),
|
|
sideslip_rate_bf_dps:z(),
|
|
rudder_offset_pct)
|
|
|
|
--log_pose('POSB', p1, path_var.accumulated_orientation_rel_ef)
|
|
|
|
--[[
|
|
run the throttle based speed controller
|
|
|
|
get the anticipated pitch at the throttle lookahead time
|
|
we use the maximum of the current path pitch and the anticipated pitch
|
|
--]]
|
|
local qchange = Quaternion()
|
|
qchange:from_angular_velocity(path_rate_ef_rads, AEROM_THR_LKAHD:get())
|
|
local qnew = qchange * orientation_rel_ef_with_roll_angle
|
|
local anticipated_pitch_rad = math.max(qnew:get_euler_pitch(), orientation_rel_ef_with_roll_angle:get_euler_pitch())
|
|
|
|
local throttle = speed_PI.update(path_var.target_speed + path_var.speed_adjustment, anticipated_pitch_rad)
|
|
local thr_min = AEROM_THR_MIN:get()
|
|
if attrib.thr_boost then
|
|
thr_min = math.max(thr_min, AEROM_THR_BOOST:get())
|
|
end
|
|
throttle = constrain(throttle, thr_min, 100.0)
|
|
|
|
if isNaN(throttle) or Vec3IsNaN(tot_ang_vel_bf_dps) then
|
|
gcs:send_text(MAV_SEVERITY.EMERGENCY,string.format("Path NaN - aborting"))
|
|
return false
|
|
end
|
|
|
|
vehicle:set_target_throttle_rate_rpy(throttle, tot_ang_vel_bf_dps:x(), tot_ang_vel_bf_dps:y(), tot_ang_vel_bf_dps:z())
|
|
vehicle:set_rudder_offset(rudder_offset_pct, true)
|
|
|
|
if now - last_named_float_t > 1.0 / NAME_FLOAT_RATE then
|
|
last_named_float_t = now
|
|
gcs:send_named_float("PERR", pos_error_ef:length())
|
|
end
|
|
|
|
local alt_error = (current_measured_pos_ef - path_var.initial_ef_pos):z()
|
|
if alt_error > AEROM_ALT_ABORT:get() then
|
|
gcs:send_text(MAV_SEVERITY.EMERGENCY,"Too low altitude, aborting")
|
|
return false
|
|
end
|
|
|
|
return true
|
|
end
|
|
|
|
--[[
|
|
an object defining a path
|
|
--]]
|
|
function PathFunction(fn, name)
|
|
local self = {}
|
|
self.fn = fn
|
|
self.name = name
|
|
return self
|
|
end
|
|
|
|
local last_preload = nil
|
|
|
|
local command_table = {}
|
|
command_table[1] = PathFunction(figure_eight, "Figure Eight")
|
|
command_table[2] = PathFunction(loop, "Loop")
|
|
command_table[3] = PathFunction(horizontal_rectangle, "Horizontal Rectangle")
|
|
command_table[4] = PathFunction(climbing_circle, "Climbing Circle")
|
|
command_table[5] = PathFunction(vertical_aerobatic_box, "Vertical Box")
|
|
command_table[6] = PathFunction(immelmann_turn_fast, "Immelmann Fast")
|
|
command_table[7] = PathFunction(straight_roll, "Axial Roll")
|
|
command_table[8] = PathFunction(rolling_circle, "Rolling Circle")
|
|
command_table[9] = PathFunction(half_cuban_eight, "Half Cuban Eight")
|
|
command_table[10]= PathFunction(half_reverse_cuban_eight, "Half Reverse Cuban Eight")
|
|
command_table[11]= PathFunction(cuban_eight, "Cuban Eight")
|
|
command_table[12]= PathFunction(humpty_bump, "Humpty Bump")
|
|
command_table[13]= PathFunction(straight_flight, "Straight Flight")
|
|
command_table[14]= PathFunction(scale_figure_eight, "Scale Figure Eight")
|
|
command_table[15]= PathFunction(immelmann_turn, "Immelmann Turn")
|
|
command_table[16]= PathFunction(split_s, "Split-S")
|
|
command_table[17]= PathFunction(upline_45, "Upline-45")
|
|
command_table[18]= PathFunction(downline_45, "Downline-45")
|
|
command_table[19]= PathFunction(stall_turn, "Stall Turn")
|
|
command_table[20]= PathFunction(procedure_turn, "Procedure Turn")
|
|
command_table[23]= PathFunction(half_climbing_circle, "Half Climbing Circle")
|
|
command_table[25]= PathFunction(laydown_humpty, "Laydown Humpty")
|
|
command_table[26]= PathFunction(barrel_roll, "Barrel Roll")
|
|
command_table[27]= PathFunction(straight_flight, "Straight Hold")
|
|
command_table[28]= PathFunction(partial_circle, "Partial Circle")
|
|
command_table[31]= PathFunction(multi_point_roll, "Multi Point Roll")
|
|
command_table[32]= PathFunction(side_step, "Side Step")
|
|
|
|
--[[
|
|
a table of function available in loadable tricks
|
|
--]]
|
|
local load_table = {}
|
|
load_table["loop"] = loop
|
|
load_table["horizontal_rectangle"] = horizontal_rectangle
|
|
load_table["climbing_circle"] = climbing_circle
|
|
load_table["vertical_aerobatic_box"] = vertical_aerobatic_box
|
|
load_table["immelmann_turn_fast"] = immelmann_turn_fast
|
|
load_table["straight_roll"] = straight_roll
|
|
load_table["rolling_circle"] = rolling_circle
|
|
load_table["half_cuban_eight"] = half_cuban_eight
|
|
load_table["half_reverse_cuban_eight"] = half_reverse_cuban_eight
|
|
load_table["cuban_eight"] = cuban_eight
|
|
load_table["humpty_bump"] = humpty_bump
|
|
load_table["straight_flight"] = straight_flight
|
|
load_table["scale_figure_eight"] = scale_figure_eight
|
|
load_table["immelmann_turn"] = immelmann_turn
|
|
load_table["split_s"] = split_s
|
|
load_table["upline_45"] = upline_45
|
|
load_table["upline_20"] = upline_20
|
|
load_table["takeoff"] = takeoff
|
|
load_table["downline_45"] = downline_45
|
|
load_table["stall_turn"] = stall_turn
|
|
load_table["procedure_turn"] = procedure_turn
|
|
load_table["two_point_roll"] = two_point_roll
|
|
load_table["half_climbing_circle"] = half_climbing_circle
|
|
load_table["laydown_humpty"] = laydown_humpty
|
|
load_table["straight_align"] = straight_align
|
|
load_table["figure_eight"] = figure_eight
|
|
load_table["barrel_roll"] = barrel_roll
|
|
load_table["straight_hold"] = straight_hold
|
|
load_table["partial_circle"] = partial_circle
|
|
load_table["multi_point_roll"] = multi_point_roll
|
|
load_table["side_step"] = side_step
|
|
load_table["align_box"] = align_box
|
|
load_table["align_center"] = align_center
|
|
|
|
--[[
|
|
interpret an attribute value, coping with special cases
|
|
--]]
|
|
function interpret_attrib(v)
|
|
if v == "true" then
|
|
return true
|
|
end
|
|
if v == "false" then
|
|
return false
|
|
end
|
|
-- could be a number
|
|
local n = tonumber(v)
|
|
if n ~= nil then
|
|
return n
|
|
end
|
|
-- assume a string
|
|
return v
|
|
end
|
|
|
|
--[[
|
|
parse a function definition in a txt load file, adding it to the load table so
|
|
it can be used in schedules
|
|
--]]
|
|
function parse_function(line, file)
|
|
_, _, funcname = string.find(line, "^function%s*([%w_]+).*$")
|
|
if not funcname then
|
|
gcs:send_text(MAV_SEVERITY.ERROR, string.format("Parse error: %s", line))
|
|
return
|
|
end
|
|
local funcstr = line .. "\n"
|
|
while true do
|
|
line = file:read()
|
|
if not line then
|
|
gcs:send_text(MAV_SEVERITY.ERROR, string.format("Error: end of file in %s", funcname))
|
|
break
|
|
end
|
|
funcstr = funcstr .. line .. "\n"
|
|
if string.sub(line,1,3) == "end" then
|
|
break
|
|
end
|
|
end
|
|
local f, errloc, err = load(funcstr, funcname, "t", _ENV)
|
|
if not f then
|
|
gcs:send_text(MAV_SEVERITY.ERROR,string.format("Error %s: %s", errloc, err))
|
|
return
|
|
end
|
|
-- fun the function code, which creates the function
|
|
local success
|
|
success, err = pcall(f)
|
|
if not success then
|
|
gcs:send_text(MAV_SEVERITY.ERROR,string.format("Error %s: %s", funcname, err))
|
|
end
|
|
load_table[funcname] = _ENV[funcname]
|
|
end
|
|
|
|
--[[
|
|
load a trick description from a text file
|
|
--]]
|
|
function load_trick(id)
|
|
if command_table[id] ~= nil then
|
|
-- already have it
|
|
return
|
|
end
|
|
-- look in 3 possible locations for the trick, coping with SITL and real boards
|
|
local trickdirs = { "APM/scripts/", "scripts/", "./" }
|
|
local file = nil
|
|
local fname = string.format("trick%u.txt", id)
|
|
local filename = nil
|
|
for i = 1, #trickdirs do
|
|
filename = trickdirs[i] .. fname
|
|
file = io.open(filename, "r")
|
|
if file then
|
|
break
|
|
end
|
|
end
|
|
if file == nil then
|
|
gcs:send_text(MAV_SEVERITY.ERROR,string.format("Failed to open %s", fname))
|
|
return
|
|
end
|
|
local name = string.format("Trick%u", id)
|
|
local attrib = {}
|
|
local paths = {}
|
|
while true do
|
|
local line = file:read()
|
|
if not line then
|
|
break
|
|
end
|
|
-- trim trailing spaces
|
|
line = string.gsub(line, '^(.-)%s*$', '%1')
|
|
local _, _, cmd, arg1, arg2, arg3, arg4 = string.find(line, "^([%w_:]+)%s*([-.%d]*)%s*([-.%d]*)%s*([-.%d]*)%s*([-.%d]*)")
|
|
if cmd == "" or cmd == nil or string.sub(cmd,1,1) == "#" then
|
|
-- ignore comments
|
|
goto continue
|
|
elseif cmd == "name:" then
|
|
_, _, name = string.find(line, "^name:%s*([%w_]+)$")
|
|
elseif string.sub(cmd,-1) == ":" then
|
|
_, _, a, s = string.find(line, "^([%w_]+):%s*([%w_:%s-]+)$")
|
|
if a ~= nil then
|
|
attrib[a] = interpret_attrib(s)
|
|
else
|
|
gcs:send_text(MAV_SEVERITY.ERROR, string.format("Bad line: '%s'", line))
|
|
end
|
|
elseif cmd == "function" then
|
|
parse_function(line, file)
|
|
elseif cmd ~= nil then
|
|
arg1 = tonumber(arg1) or 0
|
|
arg2 = tonumber(arg2) or 0
|
|
arg3 = tonumber(arg3) or 0
|
|
arg4 = tonumber(arg4) or 0
|
|
local f = load_table[cmd]
|
|
if f == nil then
|
|
gcs:send_text(MAV_SEVERITY.ERROR,string.format("Unknown command '%s' in %s", cmd, fname))
|
|
else
|
|
paths[#paths+1] = { f, { arg1, arg2, arg3, arg4 }}
|
|
for k, v in pairs(attrib) do
|
|
paths[#paths][k] = v
|
|
end
|
|
attrib = {}
|
|
end
|
|
end
|
|
::continue::
|
|
end
|
|
local pc = path_composer(name, paths)
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Loaded trick%u '%s'", id, name))
|
|
command_table[id] = PathFunction(pc, name)
|
|
logger:log_file_content(filename)
|
|
|
|
calculate_timestamps(command_table[id])
|
|
end
|
|
|
|
function calculate_timestamps(pc)
|
|
pc.fn:calculate_timestamps()
|
|
end
|
|
|
|
function PathTask(fn, name, id, initial_yaw_deg, arg1, arg2, arg3, arg4)
|
|
local self = {}
|
|
if type(fn) == "table" then
|
|
self.fn = fn
|
|
else
|
|
self.fn = fn(arg1, arg2, arg3, arg4)
|
|
end
|
|
self.name = name
|
|
self.id = id
|
|
self.initial_yaw_deg = initial_yaw_deg
|
|
self.started = false
|
|
return self
|
|
end
|
|
|
|
--[[
|
|
see if we should prepare for an upcoming trick
|
|
--]]
|
|
function check_preload_trick()
|
|
local idx = mission:get_current_nav_index()
|
|
if idx == last_preload then
|
|
return
|
|
end
|
|
last_preload = idx
|
|
local m = mission:get_item(idx+1)
|
|
if not m then
|
|
return
|
|
end
|
|
if m:command() ~= NAV_SCRIPT_TIME then
|
|
return
|
|
end
|
|
cmdid = m:param1()
|
|
if command_table[cmdid] == nil then
|
|
load_trick(cmdid)
|
|
end
|
|
end
|
|
|
|
-- see if an auto mission item needs to be run
|
|
function check_auto_mission()
|
|
id, cmd, arg1, arg2, arg3, arg4 = vehicle:nav_script_time()
|
|
if not id then
|
|
check_preload_trick()
|
|
return
|
|
end
|
|
if id ~= last_id then
|
|
-- we've started a new command
|
|
current_task = nil
|
|
last_id = id
|
|
local initial_yaw_deg = get_ground_course_deg()
|
|
load_trick(cmd)
|
|
if command_table[cmd] == nil then
|
|
gcs:send_text(MAV_SEVERITY.ERROR, string.format("Trick %u not found", cmd))
|
|
return
|
|
end
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Starting %s!", command_table[cmd].name ))
|
|
|
|
-- work out yaw between previous WP and next WP
|
|
local cnum = mission:get_current_nav_index()
|
|
|
|
if AEROM_MIS_ANGLE:get() == 0 then
|
|
-- find previous nav waypoint
|
|
local loc_prev = ahrs:get_location()
|
|
if cnum > 1 then
|
|
loc_prev = get_wp_location(cnum-1)
|
|
local i= cnum-1
|
|
while get_wp_location(i):lat() == 0 and get_wp_location(i):lng() == 0 do
|
|
i = i-1
|
|
loc_prev = get_wp_location(i)
|
|
end
|
|
end
|
|
|
|
-- find next nav waypoint
|
|
local loc_next = get_wp_location(cnum+1)
|
|
i = cnum+1
|
|
while get_wp_location(i):lat() == 0 and get_wp_location(i):lng() == 0 do
|
|
i = i+1
|
|
loc_next = get_wp_location(resolve_jump(i))
|
|
end
|
|
local wp_yaw_deg = math.deg(loc_prev:get_bearing(loc_next))
|
|
if math.abs(wrap_180(initial_yaw_deg - wp_yaw_deg)) > 90 and cnum > 1 then
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Doing turnaround! iyaw=%.1f wyaw=%.1f", initial_yaw_deg, wp_yaw_deg))
|
|
wp_yaw_deg = wrap_180(wp_yaw_deg + 180)
|
|
end
|
|
initial_yaw_deg = wp_yaw_deg
|
|
else
|
|
initial_yaw_deg = AEROM_MIS_ANGLE:get()
|
|
end
|
|
current_task = PathTask(command_table[cmd].fn, command_table[cmd].name,
|
|
id, initial_yaw_deg, arg1, arg2, arg3, arg4)
|
|
end
|
|
end
|
|
|
|
local trick_sel_chan = nil
|
|
local last_trick_selection = nil
|
|
|
|
--[[
|
|
get selected trick. Trick numbers are 1 .. TRIK_COUNT. A value of 0 is invalid
|
|
--]]
|
|
function get_trick_selection()
|
|
if trick_sel_chan == nil then
|
|
trick_sel_chan = rc:find_channel_for_option(TRIK_SEL_FN:get())
|
|
if trick_sel_chan == nil then
|
|
return 0
|
|
end
|
|
end
|
|
-- get trick selection based on selection channel input and number of tricks
|
|
local i = math.floor(TRIK_COUNT:get() * constrain(0.5*(trick_sel_chan:norm_input_ignore_trim()+1),0,0.999)+1)
|
|
if TRICKS[i] == nil then
|
|
return 0
|
|
end
|
|
return i
|
|
end
|
|
|
|
--[[
|
|
check for running a trick
|
|
--]]
|
|
function check_trick()
|
|
local selection = get_trick_selection()
|
|
local action = rc:get_aux_cached(TRIK_ACT_FN:get())
|
|
if action == 0 and current_task ~= nil then
|
|
gcs:send_text(MAV_SEVERITY.ALERT,string.format("Trick aborted"))
|
|
current_task = nil
|
|
last_trick_selection = nil
|
|
-- use invalid mode to disable script control
|
|
vehicle:nav_scripting_enable(255)
|
|
return
|
|
end
|
|
if selection == 0 then
|
|
return
|
|
end
|
|
if action == 1 and selection ~= last_trick_selection then
|
|
local id = TRICKS[selection].id:get()
|
|
if id == -1 then
|
|
gcs:send_text(MAV_SEVERITY.ERROR,string.format("Trick %u not setup",selection))
|
|
last_trick_selection = selection
|
|
return
|
|
end
|
|
load_trick(id)
|
|
if command_table[id] ~= nil then
|
|
local cmd = command_table[id]
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Trick %u selected (%s)", selection, cmd.name))
|
|
last_trick_selection = selection
|
|
return
|
|
end
|
|
end
|
|
if current_task ~= nil then
|
|
-- let the task finish
|
|
return
|
|
end
|
|
if action ~= last_trick_action_state then
|
|
last_trick_selection = selection
|
|
last_trick_action_state = action
|
|
if selection == 0 then
|
|
gcs:send_text(MAV_SEVERITY.ALERT, string.format("No trick selected"))
|
|
return
|
|
end
|
|
local id = TRICKS[selection].id:get()
|
|
if id == -1 then
|
|
gcs:send_text(MAV_SEVERITY.ALERT,string.format("Trick %u not setup",selection))
|
|
last_trick_selection = selection
|
|
return
|
|
end
|
|
load_trick(id)
|
|
if command_table[id] == nil then
|
|
gcs:send_text(MAV_SEVERITY.ALERT, string.format("Invalid trick ID %u", id))
|
|
return
|
|
end
|
|
local cmd = command_table[id]
|
|
if action == 1 then
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Trick %u selected (%s)", selection, cmd.name))
|
|
end
|
|
if action == 2 then
|
|
last_trick_selection = nil
|
|
local current_mode = vehicle:get_mode()
|
|
if not vehicle:nav_scripting_enable(current_mode) then
|
|
gcs:send_text(MAV_SEVERITY.ALERT, string.format("Tricks not available in mode"))
|
|
return
|
|
end
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Trick %u started (%s)", selection, cmd.name))
|
|
local initial_yaw_deg = get_ground_course_deg()
|
|
current_task = PathTask(cmd.fn,
|
|
cmd.name,
|
|
nil,
|
|
initial_yaw_deg,
|
|
TRICKS[selection].args[1]:get(),
|
|
TRICKS[selection].args[2]:get(),
|
|
TRICKS[selection].args[3]:get(),
|
|
TRICKS[selection].args[4]:get())
|
|
end
|
|
end
|
|
|
|
end
|
|
|
|
function update()
|
|
if ahrs:get_velocity_NED() == nil or ahrs:get_EAS2TAS() == nil or ahrs:get_relative_position_NED_origin() == nil then
|
|
-- don't start till we have valid ahrs estimates
|
|
return update, 1000.0/LOOP_RATE
|
|
end
|
|
if vehicle:get_mode() == MODE_AUTO then
|
|
if arming:is_armed() then
|
|
log_position("VEH", ahrs:get_location(), ahrs:get_quaternion())
|
|
end
|
|
check_auto_mission()
|
|
elseif TRICKS ~= nil then
|
|
check_trick()
|
|
end
|
|
|
|
if current_task ~= nil then
|
|
if not do_path() then
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Finishing %s!", current_task.name))
|
|
if current_task.id ~= nil then
|
|
vehicle:nav_script_time_done(current_task.id)
|
|
else
|
|
-- use invalid mode to disable script control
|
|
vehicle:nav_scripting_enable(255)
|
|
end
|
|
current_task = nil
|
|
end
|
|
end
|
|
|
|
return update, 1000.0/LOOP_RATE
|
|
end
|
|
|
|
gcs:send_text(MAV_SEVERITY.INFO, string.format("Loaded plane_aerobatics.lua"))
|
|
return update()
|