mirror of https://github.com/ArduPilot/ardupilot
186 lines
7.3 KiB
C++
186 lines
7.3 KiB
C++
#include "Plane.h"
|
|
|
|
#if SOARING_ENABLED == ENABLED
|
|
|
|
/*
|
|
* ArduSoar support function
|
|
*
|
|
* Peter Braswell, Samuel Tabor, Andrey Kolobov, and Iain Guilliard
|
|
*/
|
|
void Plane::update_soaring() {
|
|
|
|
// Check if soaring is active. Also sets throttle suppressed
|
|
// status on active state changes.
|
|
plane.g2.soaring_controller.update_active_state();
|
|
|
|
if (!g2.soaring_controller.is_active()) {
|
|
return;
|
|
}
|
|
|
|
g2.soaring_controller.update_vario();
|
|
|
|
// Check for throttle suppression change.
|
|
switch (control_mode->mode_number()) {
|
|
case Mode::Number::AUTO:
|
|
g2.soaring_controller.suppress_throttle();
|
|
break;
|
|
case Mode::Number::FLY_BY_WIRE_B:
|
|
case Mode::Number::CRUISE:
|
|
if (!g2.soaring_controller.suppress_throttle() && aparm.throttle_max > 0) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: forcing RTL");
|
|
set_mode(mode_rtl, ModeReason::SOARING_FBW_B_WITH_MOTOR_RUNNING);
|
|
}
|
|
break;
|
|
case Mode::Number::LOITER:
|
|
// Never use throttle in LOITER with soaring active.
|
|
g2.soaring_controller.set_throttle_suppressed(true);
|
|
break;
|
|
default:
|
|
// In any other mode allow throttle.
|
|
g2.soaring_controller.set_throttle_suppressed(false);
|
|
break;
|
|
}
|
|
|
|
// Nothing to do if we are in powered flight
|
|
if (!g2.soaring_controller.get_throttle_suppressed() && aparm.throttle_max > 0) {
|
|
return;
|
|
}
|
|
|
|
switch (control_mode->mode_number()) {
|
|
default:
|
|
// nothing to do
|
|
break;
|
|
case Mode::Number::AUTO:
|
|
case Mode::Number::FLY_BY_WIRE_B:
|
|
case Mode::Number::CRUISE:
|
|
// Test for switch into thermalling mode
|
|
g2.soaring_controller.update_cruising();
|
|
|
|
if (g2.soaring_controller.check_thermal_criteria()) {
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Thermal detected, entering %s", mode_loiter.name());
|
|
set_mode(mode_loiter, ModeReason::SOARING_THERMAL_DETECTED);
|
|
}
|
|
break;
|
|
|
|
case Mode::Number::LOITER: {
|
|
// Update thermal estimate and check for switch back to AUTO
|
|
g2.soaring_controller.update_thermalling(); // Update estimate
|
|
|
|
// Thermalling is done in a home-relative coordinate system, so we need home to be set.
|
|
Vector3f position;
|
|
if (!ahrs.get_relative_position_NED_home(position)) {
|
|
return;
|
|
}
|
|
|
|
// Check distance to home against MAX_RADIUS.
|
|
if (g2.soaring_controller.max_radius >= 0 &&
|
|
sq(position.x)+sq(position.y) > sq(g2.soaring_controller.max_radius) &&
|
|
previous_mode->mode_number()!=Mode::Number::AUTO) {
|
|
// Some other loiter status, and outside of maximum soaring radius, and previous mode wasn't AUTO
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Outside SOAR_MAX_RADIUS, RTL");
|
|
set_mode(mode_rtl, ModeReason::SOARING_DRIFT_EXCEEDED);
|
|
break;
|
|
}
|
|
|
|
// If previous mode was AUTO and there was a previous NAV command, we can use previous and next wps for drift calculation
|
|
// with respect to the desired direction of travel. If these vectors are zero, drift will be calculated from thermal start
|
|
// position only, without taking account of the desired direction of travel.
|
|
Vector2f prev_wp, next_wp;
|
|
|
|
if (previous_mode == &mode_auto) {
|
|
AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();
|
|
AP_Mission::Mission_Command prev_nav_cmd;
|
|
|
|
if (!(mission.get_next_nav_cmd(mission.get_prev_nav_cmd_with_wp_index(), prev_nav_cmd) &&
|
|
prev_nav_cmd.content.location.get_vector_xy_from_origin_NE(prev_wp) &&
|
|
current_nav_cmd.content.location.get_vector_xy_from_origin_NE(next_wp))) {
|
|
prev_wp.zero();
|
|
next_wp.zero();
|
|
}
|
|
}
|
|
|
|
// Get the status of the soaring controller cruise checks.
|
|
const SoaringController::LoiterStatus loiterStatus = g2.soaring_controller.check_cruise_criteria(prev_wp/100, next_wp/100);
|
|
|
|
if (loiterStatus == SoaringController::LoiterStatus::GOOD_TO_KEEP_LOITERING) {
|
|
// Reset loiter angle, so that the loiter exit heading criteria
|
|
// only starts expanding when we're ready to exit.
|
|
plane.loiter.sum_cd = 0;
|
|
plane.soaring_mode_timer_ms = AP_HAL::millis();
|
|
|
|
//update the wp location
|
|
g2.soaring_controller.get_target(next_WP_loc);
|
|
|
|
break;
|
|
}
|
|
|
|
// Some other loiter status, we need to think about exiting loiter.
|
|
const uint32_t time_in_loiter_ms = AP_HAL::millis() - plane.soaring_mode_timer_ms;
|
|
|
|
if (!soaring_exit_heading_aligned() && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && time_in_loiter_ms < 20000) {
|
|
// Heading not lined up, and not timed out or in a condition requiring immediate exit.
|
|
break;
|
|
}
|
|
|
|
// Heading lined up and loiter status not good to continue. Need to switch mode.
|
|
|
|
// Determine appropriate mode.
|
|
Mode* exit_mode = previous_mode;
|
|
|
|
if (loiterStatus == SoaringController::LoiterStatus::ALT_TOO_LOW &&
|
|
((previous_mode == &mode_cruise) || (previous_mode == &mode_fbwb))) {
|
|
exit_mode = &mode_rtl;
|
|
}
|
|
|
|
// Print message and set mode.
|
|
switch (loiterStatus) {
|
|
case SoaringController::LoiterStatus::ALT_TOO_HIGH:
|
|
soaring_restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH, *exit_mode);
|
|
break;
|
|
case SoaringController::LoiterStatus::ALT_TOO_LOW:
|
|
soaring_restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW, *exit_mode);
|
|
break;
|
|
default:
|
|
case SoaringController::LoiterStatus::THERMAL_WEAK:
|
|
soaring_restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED, *exit_mode);
|
|
break;
|
|
case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
|
|
soaring_restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED, *exit_mode);
|
|
break;
|
|
} // switch loiterStatus
|
|
|
|
break;
|
|
|
|
} // case loiter
|
|
} // switch control_mode
|
|
}
|
|
|
|
|
|
bool Plane::soaring_exit_heading_aligned() const
|
|
{
|
|
// Return true if the current heading is aligned with the next objective.
|
|
// If home is not set, or heading not locked, return true to avoid delaying mode change.
|
|
switch (previous_mode->mode_number()) {
|
|
case Mode::Number::AUTO: {
|
|
//Get the lat/lon of next Nav waypoint after this one:
|
|
AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();;
|
|
return plane.mode_loiter.isHeadingLinedUp(next_WP_loc, current_nav_cmd.content.location);
|
|
}
|
|
case Mode::Number::FLY_BY_WIRE_B:
|
|
return (!AP::ahrs().home_is_set() || plane.mode_loiter.isHeadingLinedUp(next_WP_loc, AP::ahrs().get_home()));
|
|
case Mode::Number::CRUISE:
|
|
return (!cruise_state.locked_heading || plane.mode_loiter.isHeadingLinedUp_cd(cruise_state.locked_heading_cd));
|
|
default:
|
|
break;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
void Plane::soaring_restore_mode(const char *reason, ModeReason modereason, Mode &exit_mode)
|
|
{
|
|
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: %s, restoring %s", reason, exit_mode.name());
|
|
set_mode(exit_mode, modereason);
|
|
}
|
|
|
|
#endif // SOARING_ENABLED
|