mirror of https://github.com/ArduPilot/ardupilot
208 lines
7.5 KiB
C++
208 lines
7.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "SIM_Precland.h"
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#include "AP_HAL/AP_HAL.h"
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#include "AP_Math/AP_Math.h"
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#include "AP_Common/Location.h"
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#include <stdio.h>
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using namespace SITL;
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// table of user settable parameters
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const AP_Param::GroupInfo SIM_Precland::var_info[] = {
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// @Param: ENABLE
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// @DisplayName: Preland device Sim enable/disable
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// @Description: Allows you to enable (1) or disable (0) the Preland simulation
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("ENABLE", 0, SIM_Precland, _enable, 0),
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// @Param: LAT
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// @DisplayName: Precland device center's latitude
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// @Description: Precland device center's latitude
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// @Units: deg
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// @Increment: 0.000001
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// @Range: -90 90
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// @User: Advanced
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AP_GROUPINFO("LAT", 1, SIM_Precland, _device_lat, 0),
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// @Param: LON
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// @DisplayName: Precland device center's longitude
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// @Description: Precland device center's longitude
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// @Units: deg
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// @Increment: 0.000001
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// @Range: -180 180
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// @User: Advanced
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AP_GROUPINFO("LON", 2, SIM_Precland, _device_lon, 0),
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// @Param: HEIGHT
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// @DisplayName: Precland device center's height above sealevel
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// @Description: Precland device center's height above sealevel assume a 2x2m square as station base
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// @Units: cm
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// @Increment: 1
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// @Range: 0 10000
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// @User: Advanced
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AP_GROUPINFO("HEIGHT", 3, SIM_Precland, _device_height, 0),
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// @Param: YAW
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// @DisplayName: Precland device systems rotation from north
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// @Description: Precland device systems rotation from north
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// @Units: deg
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// @Increment: 1
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// @Range: -180 +180
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// @User: Advanced
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AP_GROUPINFO("YAW", 4, SIM_Precland, _orient_yaw, 0),
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// @Param: RATE
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// @DisplayName: Precland device update rate
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// @Description: Precland device rate. e.g led patter refresh rate, RF message rate, etc.
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// @Units: Hz
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// @Range: 0 200
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// @User: Advanced
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AP_GROUPINFO("RATE", 5, SIM_Precland, _rate, 100),
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// @Param: TYPE
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// @DisplayName: Precland device radiance type
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// @Description: Precland device radiance type: it can be a cylinder, a cone, or a sphere.
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// @Values: 0:cylinder,1:cone,2:sphere
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// @User: Advanced
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AP_GROUPINFO("TYPE", 6, SIM_Precland, _type, SIM_Precland::PRECLAND_TYPE_CYLINDER),
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// @Param: ALT_LIMIT
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// @DisplayName: Precland device alt range
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// @Description: Precland device maximum range altitude
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// @Units: m
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// @Range: 0 100
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// @User: Advanced
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AP_GROUPINFO("ALT_LMT", 7, SIM_Precland, _alt_limit, 15),
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// @Param: DIST_LIMIT
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// @DisplayName: Precland device lateral range
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// @Description: Precland device maximum lateral range
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// @Units: m
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// @Range: 5 100
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// @User: Advanced
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AP_GROUPINFO("DIST_LMT", 8, SIM_Precland, _dist_limit, 10),
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// @Param: ORIENT
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// @DisplayName: Precland device orientation
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// @Description: Precland device orientation vector
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// @Values: 0:Front, 4:Back, 24:Up
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// @User: Advanced
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AP_GROUPINFO("ORIENT", 9, SIM_Precland, _orient, ROTATION_PITCH_90),
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// @Param: OPTIONS
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// @DisplayName: SIM_Precland extra options
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// @Description: SIM_Precland extra options
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// @Bitmask: 0: Enable target distance
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// @User: Advanced
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AP_GROUPINFO("OPTIONS", 10, SIM_Precland, _options, 0),
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AP_GROUPEND
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};
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void SIM_Precland::update(const Location &loc, const Vector3d &position)
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{
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if (!_enable) {
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_healthy = false;
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return;
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}
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if (is_zero(_alt_limit) || _dist_limit < 1.0f) {
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_healthy = false;
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return;
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}
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const Location device_center(static_cast<int32_t>(_device_lat * 1.0e7f),
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static_cast<int32_t>(_device_lon * 1.0e7f),
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static_cast<int32_t>(_device_height),
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Location::AltFrame::ABOVE_HOME);
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Vector2f centerf;
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if (!device_center.get_vector_xy_from_origin_NE(centerf)) {
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_healthy = false;
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return;
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}
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centerf = centerf * 0.01f; // cm to m
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Vector3d center(centerf.x, centerf.y, -_device_height); // convert to make the further vector operations easy
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// axis of cone or cylinder inside which the vehicle receives signals from simulated precland device
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Vector3d axis{1, 0, 0};
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axis.rotate((Rotation)_orient.get()); // unit vector in direction of axis of cone or cylinder
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Vector3d position_wrt_device = position - center; // position of vehicle with respect to preland device center
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// longitudinal distance of vehicle from the precland device
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// this is the distance of vehicle from the plane which is passing through precland device center and perpendicular to axis of cone/cylinder
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// this plane is the ground plane when the axis has PITCH_90 rotation
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Vector3d projection_on_axis = position_wrt_device.projected(axis);
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const float longitudinal_dist = projection_on_axis.length();
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// lateral distance of vehicle from the precland device
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// this is the perpendicular distance of vehicle from the axis of cone/cylinder
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const float lateral_distance = safe_sqrt(MAX(0, position_wrt_device.length_squared() - longitudinal_dist*longitudinal_dist));
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// sign of projection's dot product with axis tells if vehicle is in front of beacon
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// return false if vehicle if vehicle is longitudinally too far away from precland device
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// for PITCH_90 orientation, longitudinal distance = alt of vehicle - device_height (in m)
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if (projection_on_axis.dot(axis) <= 0 || longitudinal_dist > _alt_limit) {
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_healthy = false;
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return;
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}
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const uint32_t now = AP_HAL::millis();
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if (now - _last_update_ms < 1000.0f * (1.0f / _rate)) {
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return;
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}
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_last_update_ms = now;
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switch (_type) {
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case PRECLAND_TYPE_CONE: {
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// lateral_limit is the limit of how far the vehicle can laterally be from precland_device
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// in case of cone, this limit increases gradually as the vehicle moves longitudinally far away from precland device
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const float lateral_limit = longitudinal_dist * _dist_limit / _alt_limit;
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if (lateral_distance > lateral_limit) {
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_healthy = false;
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return;
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}
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break;
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}
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case PRECLAND_TYPE_SPHERE: {
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if (position_wrt_device.length() > _dist_limit) {
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_healthy = false;
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return;
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}
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break;
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}
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default:
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case PRECLAND_TYPE_CYLINDER: {
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if (lateral_distance > _dist_limit) {
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_healthy = false;
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return;
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}
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break;
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}
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}
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_target_pos = position_wrt_device;
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_healthy = true;
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}
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void SIM_Precland::set_default_location(float lat, float lon, int16_t yaw) {
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if (is_zero(_device_lat) && is_zero(_device_lon)) {
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_device_lat.set(lat);
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_device_lon.set(lon);
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_orient_yaw.set(yaw);
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}
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}
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