mirror of https://github.com/ArduPilot/ardupilot
337 lines
12 KiB
C++
337 lines
12 KiB
C++
#include "AP_Soaring.h"
|
|
#include <GCS_MAVLink/GCS.h>
|
|
#include <stdint.h>
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
|
|
// ArduSoar parameters
|
|
const AP_Param::GroupInfo SoaringController::var_info[] = {
|
|
// @Param: ENABLE
|
|
// @DisplayName: Is the soaring mode enabled or not
|
|
// @Description: Toggles the soaring mode on and off
|
|
// @Values: 0:Disable,1:Enable
|
|
// @User: Advanced
|
|
AP_GROUPINFO_FLAGS("ENABLE", 1, SoaringController, soar_active, 0, AP_PARAM_FLAG_ENABLE),
|
|
|
|
// @Param: VSPEED
|
|
// @DisplayName: Vertical v-speed
|
|
// @Description: Rate of climb to trigger themalling speed
|
|
// @Units: m/s
|
|
// @Range: 0 10
|
|
// @User: Advanced
|
|
AP_GROUPINFO("VSPEED", 2, SoaringController, thermal_vspeed, 0.7f),
|
|
|
|
// @Param: Q1
|
|
// @DisplayName: Process noise
|
|
// @Description: Standard deviation of noise in process for strength
|
|
// @Units:
|
|
// @Range: 0 10
|
|
// @User: Advanced
|
|
AP_GROUPINFO("Q1", 3, SoaringController, thermal_q1, 0.001f),
|
|
|
|
// @Param: Q2
|
|
// @DisplayName: Process noise
|
|
// @Description: Standard deviation of noise in process for position and radius
|
|
// @Units:
|
|
// @Range: 0 10
|
|
// @User: Advanced
|
|
AP_GROUPINFO("Q2", 4, SoaringController, thermal_q2, 0.03f),
|
|
|
|
// @Param: R
|
|
// @DisplayName: Measurement noise
|
|
// @Description: Standard deviation of noise in measurement
|
|
// @Units:
|
|
// @Range: 0 10
|
|
// @User: Advanced
|
|
|
|
AP_GROUPINFO("R", 5, SoaringController, thermal_r, 0.45f),
|
|
|
|
// @Param: DIST_AHEAD
|
|
// @DisplayName: Distance to thermal center
|
|
// @Description: Initial guess of the distance to the thermal center
|
|
// @Units: m
|
|
// @Range: 0 100
|
|
// @User: Advanced
|
|
AP_GROUPINFO("DIST_AHEAD", 6, SoaringController, thermal_distance_ahead, 5.0f),
|
|
|
|
// @Param: MIN_THML_S
|
|
// @DisplayName: Minimum thermalling time
|
|
// @Description: Minimum number of seconds to spend thermalling
|
|
// @Units: s
|
|
// @Range: 0 32768
|
|
// @User: Advanced
|
|
AP_GROUPINFO("MIN_THML_S", 7, SoaringController, min_thermal_s, 20),
|
|
|
|
// @Param: MIN_CRSE_S
|
|
// @DisplayName: Minimum cruising time
|
|
// @Description: Minimum number of seconds to spend cruising
|
|
// @Units: s
|
|
// @Range: 0 32768
|
|
// @User: Advanced
|
|
AP_GROUPINFO("MIN_CRSE_S", 8, SoaringController, min_cruise_s, 30),
|
|
|
|
// @Param: POLAR_CD0
|
|
// @DisplayName: Zero lift drag coef.
|
|
// @Description: Zero lift drag coefficient
|
|
// @Units:
|
|
// @Range: 0 0.5
|
|
// @User: Advanced
|
|
AP_GROUPINFO("POLAR_CD0", 9, SoaringController, polar_CD0, 0.027),
|
|
|
|
// @Param: POLAR_B
|
|
// @DisplayName: Induced drag coeffient
|
|
// @Description: Induced drag coeffient
|
|
// @Units:
|
|
// @Range: 0 0.5
|
|
// @User: Advanced
|
|
AP_GROUPINFO("POLAR_B", 10, SoaringController, polar_B, 0.031),
|
|
|
|
// @Param: POLAR_K
|
|
// @DisplayName: Cl factor
|
|
// @Description: Cl factor 2*m*g/(rho*S)
|
|
// @Units: m.m/s/s
|
|
// @Range: 0 0.5
|
|
// @User: Advanced
|
|
AP_GROUPINFO("POLAR_K", 11, SoaringController, polar_K, 25.6),
|
|
|
|
// @Param: ALT_MAX
|
|
// @DisplayName: Maximum soaring altitude, relative to the home location
|
|
// @Description: Don't thermal any higher than this.
|
|
// @Units: m
|
|
// @Range: 0 1000.0
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ALT_MAX", 12, SoaringController, alt_max, 350.0),
|
|
|
|
// @Param: ALT_MIN
|
|
// @DisplayName: Minimum soaring altitude, relative to the home location
|
|
// @Description: Don't get any lower than this.
|
|
// @Units: m
|
|
// @Range: 0 1000.0
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ALT_MIN", 13, SoaringController, alt_min, 50.0),
|
|
|
|
// @Param: ALT_CUTOFF
|
|
// @DisplayName: Maximum power altitude, relative to the home location
|
|
// @Description: Cut off throttle at this alt.
|
|
// @Units: m
|
|
// @Range: 0 1000.0
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ALT_CUTOFF", 14, SoaringController, alt_cutoff, 250.0),
|
|
|
|
// @Param: ENABLE_CH
|
|
// @DisplayName: (Optional) RC channel that toggles the soaring controller on and off
|
|
// @Description: Toggles the soaring controller on and off. This parameter has any effect only if SOAR_ENABLE is set to 1 and this parameter is set to a valid non-zero channel number. When set, soaring will be activated when RC input to the specified channel is greater than or equal to 1700.
|
|
// @Range: 0 16
|
|
// @User: Advanced
|
|
AP_GROUPINFO("ENABLE_CH", 15, SoaringController, soar_active_ch, 0),
|
|
|
|
AP_GROUPEND
|
|
};
|
|
|
|
SoaringController::SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms) :
|
|
_ahrs(ahrs),
|
|
_spdHgt(spdHgt),
|
|
_aparm(parms),
|
|
_vario(ahrs,spdHgt,parms),
|
|
_loiter_rad(parms.loiter_radius),
|
|
_throttle_suppressed(true)
|
|
{
|
|
AP_Param::setup_object_defaults(this, var_info);
|
|
}
|
|
|
|
void SoaringController::get_target(Location &wp)
|
|
{
|
|
wp = _prev_update_location;
|
|
location_offset(wp, _ekf.X[2], _ekf.X[3]);
|
|
}
|
|
|
|
bool SoaringController::suppress_throttle()
|
|
{
|
|
float alt = 0;
|
|
get_altitude_wrt_home(&alt);
|
|
|
|
if (_throttle_suppressed && (alt < alt_min)) {
|
|
// Time to throttle up
|
|
_throttle_suppressed = false;
|
|
} else if ((!_throttle_suppressed) && (alt > alt_cutoff)) {
|
|
// Start glide
|
|
_throttle_suppressed = true;
|
|
// Zero the pitch integrator - the nose is currently raised to climb, we need to go back to glide.
|
|
_spdHgt.reset_pitch_I();
|
|
_cruise_start_time_us = AP_HAL::micros64();
|
|
// Reset the filtered vario rate - it is currently elevated due to the climb rate and would otherwise take a while to fall again,
|
|
// leading to false positives.
|
|
_vario.filtered_reading = 0;
|
|
}
|
|
|
|
return _throttle_suppressed;
|
|
}
|
|
|
|
bool SoaringController::check_thermal_criteria()
|
|
{
|
|
return (soar_active
|
|
&& ((AP_HAL::micros64() - _cruise_start_time_us) > ((unsigned)min_cruise_s * 1e6))
|
|
&& _vario.filtered_reading > thermal_vspeed
|
|
&& _vario.alt < alt_max
|
|
&& _vario.alt > alt_min);
|
|
}
|
|
|
|
bool SoaringController::check_cruise_criteria()
|
|
{
|
|
float thermalability = (_ekf.X[0]*expf(-powf(_loiter_rad / _ekf.X[1], 2))) - EXPECTED_THERMALLING_SINK;
|
|
float alt = _vario.alt;
|
|
|
|
if (soar_active && (AP_HAL::micros64() - _thermal_start_time_us) > ((unsigned)min_thermal_s * 1e6) && thermalability < McCready(alt)) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Thermal weak, recommend quitting: W %f R %f th %f alt %f Mc %f", (double)_ekf.X[0], (double)_ekf.X[1], (double)thermalability, (double)alt, (double)McCready(alt));
|
|
return true;
|
|
} else if (soar_active && (alt>alt_max || alt<alt_min)) {
|
|
gcs().send_text(MAV_SEVERITY_ALERT, "Out of allowable altitude range, beginning cruise. Alt = %f", (double)alt);
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
bool SoaringController::check_init_thermal_criteria()
|
|
{
|
|
if (soar_active && (AP_HAL::micros64() - _thermal_start_time_us) < ((unsigned)min_thermal_s * 1e6)) {
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
|
|
}
|
|
|
|
void SoaringController::init_thermalling()
|
|
{
|
|
// Calc filter matrices - so that changes to parameters can be updated by switching in and out of thermal mode
|
|
float r = powf(thermal_r, 2);
|
|
float cov_q1 = powf(thermal_q1, 2); // State covariance
|
|
float cov_q2 = powf(thermal_q2, 2); // State covariance
|
|
const float init_q[4] = {cov_q1, cov_q2, cov_q2, cov_q2};
|
|
const MatrixN<float,4> q{init_q};
|
|
const float init_p[4] = {INITIAL_STRENGTH_COVARIANCE, INITIAL_RADIUS_COVARIANCE, INITIAL_POSITION_COVARIANCE, INITIAL_POSITION_COVARIANCE};
|
|
const MatrixN<float,4> p{init_p};
|
|
|
|
// New state vector filter will be reset. Thermal location is placed in front of a/c
|
|
const float init_xr[4] = {INITIAL_THERMAL_STRENGTH,
|
|
INITIAL_THERMAL_RADIUS,
|
|
thermal_distance_ahead * cosf(_ahrs.yaw),
|
|
thermal_distance_ahead * sinf(_ahrs.yaw)};
|
|
const VectorN<float,4> xr{init_xr};
|
|
|
|
// Also reset covariance matrix p so filter is not affected by previous data
|
|
_ekf.reset(xr, p, q, r);
|
|
|
|
_ahrs.get_position(_prev_update_location);
|
|
_prev_update_time = AP_HAL::micros64();
|
|
_thermal_start_time_us = AP_HAL::micros64();
|
|
}
|
|
|
|
void SoaringController::init_cruising()
|
|
{
|
|
if (is_active() && suppress_throttle()) {
|
|
_cruise_start_time_us = AP_HAL::micros64();
|
|
// Start glide. Will be updated on the next loop.
|
|
_throttle_suppressed = true;
|
|
}
|
|
}
|
|
|
|
void SoaringController::get_wind_corrected_drift(const Location *current_loc, const Vector3f *wind, float *wind_drift_x, float *wind_drift_y, float *dx, float *dy)
|
|
{
|
|
Vector2f diff = location_diff(_prev_update_location, *current_loc); // get distances from previous update
|
|
*dx = diff.x;
|
|
*dy = diff.y;
|
|
|
|
// Wind correction
|
|
*wind_drift_x = wind->x * (AP_HAL::micros64() - _prev_update_time) * 1e-6;
|
|
*wind_drift_y = wind->y * (AP_HAL::micros64() - _prev_update_time) * 1e-6;
|
|
*dx -= *wind_drift_x;
|
|
*dy -= *wind_drift_y;
|
|
}
|
|
|
|
void SoaringController::get_altitude_wrt_home(float *alt)
|
|
{
|
|
_ahrs.get_relative_position_D_home(*alt);
|
|
*alt *= -1.0f;
|
|
}
|
|
void SoaringController::update_thermalling()
|
|
{
|
|
struct Location current_loc;
|
|
_ahrs.get_position(current_loc);
|
|
|
|
if (_vario.new_data) {
|
|
float dx = 0;
|
|
float dy = 0;
|
|
float dx_w = 0;
|
|
float dy_w = 0;
|
|
Vector3f wind = _ahrs.wind_estimate();
|
|
get_wind_corrected_drift(¤t_loc, &wind, &dx_w, &dy_w, &dx, &dy);
|
|
|
|
#if (0)
|
|
// Print32_t filter info for debugging
|
|
int32_t i;
|
|
for (i = 0; i < 4; i++) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "%e ", (double)_ekf.P[i][i]);
|
|
}
|
|
for (i = 0; i < 4; i++) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "%e ", (double)_ekf.X[i]);
|
|
}
|
|
#endif
|
|
|
|
// write log - save the data.
|
|
DataFlash_Class::instance()->Log_Write("SOAR", "TimeUS,nettorate,dx,dy,x0,x1,x2,x3,lat,lng,alt,dx_w,dy_w", "QfffffffLLfff",
|
|
AP_HAL::micros64(),
|
|
(double)_vario.reading,
|
|
(double)dx,
|
|
(double)dy,
|
|
(double)_ekf.X[0],
|
|
(double)_ekf.X[1],
|
|
(double)_ekf.X[2],
|
|
(double)_ekf.X[3],
|
|
current_loc.lat,
|
|
current_loc.lng,
|
|
(double)_vario.alt,
|
|
(double)dx_w,
|
|
(double)dy_w);
|
|
|
|
//log_data();
|
|
_ekf.update(_vario.reading,dx, dy); // update the filter
|
|
|
|
_prev_update_location = current_loc; // save for next time
|
|
_prev_update_time = AP_HAL::micros64();
|
|
_vario.new_data = false;
|
|
}
|
|
}
|
|
|
|
void SoaringController::update_cruising()
|
|
{
|
|
// Reserved for future tasks that need to run continuously while in FBWB or AUTO mode,
|
|
// for example, calculation of optimal airspeed and flap angle.
|
|
}
|
|
|
|
void SoaringController::update_vario()
|
|
{
|
|
_vario.update(polar_K, polar_CD0, polar_B);
|
|
}
|
|
|
|
|
|
float SoaringController::McCready(float alt)
|
|
{
|
|
// A method shell to be filled in later
|
|
return thermal_vspeed;
|
|
}
|
|
|
|
bool SoaringController::is_active() const
|
|
{
|
|
if (!soar_active) {
|
|
return false;
|
|
}
|
|
if (soar_active_ch <= 0) {
|
|
// no activation channel
|
|
return true;
|
|
}
|
|
// active when above 1700
|
|
return hal.rcin->read(soar_active_ch-1) >= 1700;
|
|
}
|