mirror of https://github.com/ArduPilot/ardupilot
259 lines
10 KiB
C++
259 lines
10 KiB
C++
#include "Rover.h"
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#if MODE_DOCK_ENABLED
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const AP_Param::GroupInfo ModeDock::var_info[] = {
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// @Param: _SPEED
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// @DisplayName: Dock mode speed
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// @Description: Vehicle speed limit in dock mode
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// @Units: m/s
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// @Range: 0 100
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// @Increment: 0.1
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// @User: Standard
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AP_GROUPINFO("_SPEED", 1, ModeDock, speed, 0.0f),
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// @Param: _DIR
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// @DisplayName: Dock mode direction of approach
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// @Description: Compass direction in which vehicle should approach towards dock. -1 value represents unset parameter
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// @Units: deg
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// @Range: 0 360
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// @Increment: 1
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// @User: Advanced
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AP_GROUPINFO("_DIR", 2, ModeDock, desired_dir, -1.00f),
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// @Param: _HDG_CORR_EN
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// @DisplayName: Dock mode heading correction enable/disable
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// @Description: When enabled, the autopilot modifies the path to approach the target head-on along desired line of approch in dock mode
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// @Values: 0:Disabled,1:Enabled
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// @User: Advanced
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AP_GROUPINFO("_HDG_CORR_EN", 3, ModeDock, hdg_corr_enable, 0),
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// @Param: _HDG_CORR_WT
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// @DisplayName: Dock mode heading correction weight
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// @Description: This value describes how aggressively vehicle tries to correct its heading to be on desired line of approach
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// @Range: 0.00 0.90
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// @Increment: 0.05
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// @User: Advanced
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AP_GROUPINFO("_HDG_CORR_WT", 4, ModeDock, hdg_corr_weight, 0.75f),
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// @Param: _STOP_DIST
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// @DisplayName: Distance from docking target when we should stop
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// @Description: The vehicle starts stopping when it is this distance away from docking target
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// @Units: m
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// @Range: 0 2
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// @Increment: 0.01
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// @User: Standard
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AP_GROUPINFO("_STOP_DIST", 5, ModeDock, stopping_dist, 0.30f),
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AP_GROUPEND
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};
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ModeDock::ModeDock(void) : Mode()
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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#define AR_DOCK_ACCEL_MAX 20.0 // acceleration used when user has specified no acceleration limit
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// initialize dock mode
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bool ModeDock::_enter()
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{
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// refuse to enter the mode if dock is not in sight
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if (!rover.precland.enabled() || !rover.precland.target_acquired()) {
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gcs().send_text(MAV_SEVERITY_NOTICE, "Dock: target not acquired");
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return false;
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}
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if (hdg_corr_enable && is_negative(desired_dir)) {
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// DOCK_DIR is required for heading correction
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gcs().send_text(MAV_SEVERITY_NOTICE, "Dock: Set DOCK_DIR or disable heading correction");
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return false;
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}
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// set speed limit to dock_speed param if available
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// otherwise the vehicle uses wp_nav default speed limit
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const float speed_max = is_positive(speed) ? speed : g2.wp_nav.get_default_speed();
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float atc_accel_max = MIN(g2.attitude_control.get_accel_max(), g2.attitude_control.get_decel_max());
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if (!is_positive(atc_accel_max)) {
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// accel_max of zero means no limit so use maximum acceleration
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atc_accel_max = AR_DOCK_ACCEL_MAX;
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}
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const float accel_max = is_positive(g2.wp_nav.get_default_accel()) ? MIN(g2.wp_nav.get_default_accel(), atc_accel_max) : atc_accel_max;
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const float jerk_max = is_positive(g2.wp_nav.get_default_jerk()) ? g2.wp_nav.get_default_jerk() : accel_max;
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// initialise position controller
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g2.pos_control.set_limits(speed_max, accel_max, g2.attitude_control.get_turn_lat_accel_max(), jerk_max);
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g2.pos_control.init();
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// set the position controller reversed in case the camera is mounted on vehicle's back
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g2.pos_control.set_reversed(rover.precland.get_orient() == 4);
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// construct unit vector in the desired direction from where we want the vehicle to approach the dock
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// this helps to dock the vehicle head-on even when we enter the dock mode at an angle towards the dock
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_desired_heading_NE = Vector2f{cosf(radians(desired_dir)), sinf(radians(desired_dir))};
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_docking_complete = false;
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return true;
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}
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void ModeDock::update()
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{
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// if docking is complete, rovers stop and boats loiter
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if (_docking_complete) {
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// rovers stop, boats loiter
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// note that loiter update must be called after successfull initialisation on mode loiter
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if (_loitering) {
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// mode loiter must be initialised before calling update method
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rover.mode_loiter.update();
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} else {
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stop_vehicle();
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}
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return;
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}
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const bool real_dock_in_sight = rover.precland.get_target_position_cm(_dock_pos_rel_origin_cm);
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Vector2f dock_pos_rel_vehicle_cm;
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if (!calc_dock_pos_rel_vehicle_NE(dock_pos_rel_vehicle_cm)) {
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g2.motors.set_throttle(0.0f);
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g2.motors.set_steering(0.0f);
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return;
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}
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_distance_to_destination = dock_pos_rel_vehicle_cm.length() * 0.01f;
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// we force the vehicle to use real dock as target when we are too close to the dock
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// note that heading correction does not work when we force real target
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const bool force_real_target = _distance_to_destination < _force_real_target_limit_cm * 0.01f;
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// if we are close enough to the dock or the target is not in sight when we strictly require it
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// we mark the docking to be completed so that the vehicle stops
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if (_distance_to_destination <= stopping_dist || (force_real_target && !real_dock_in_sight)) {
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_docking_complete = true;
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// send a one time notification to GCS
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gcs().send_text(MAV_SEVERITY_INFO, "Dock: Docking complete");
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// initialise mode loiter if it is a boat
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if (rover.is_boat()) {
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// if we fail to enter, we set _loitering to false
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_loitering = rover.mode_loiter.enter();
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}
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return;
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}
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Vector2f target_cm = _dock_pos_rel_origin_cm;
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// ***** HEADING CORRECTION *****
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// to make to vehicle dock from a given direction we simulate a virtual moving target on the line of approach
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// this target is always at DOCK_HDG_COR_WT times the distance from dock to vehicle (along the line of approach)
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// For e.g., if the dock is 100 m away form dock, DOCK_HDG_COR_WT is 0.75
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// then the position target is 75 m from the dock, i.e., 25 m from the vehicle
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// as the vehicle tries to reach this target, this target appears to move towards the dock and at last it is sandwiched b/w dock and vehicle
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// since this target is moving along desired direction of approach, the vehicle also comes on that line while following it
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if (!force_real_target && hdg_corr_enable) {
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const float correction_vec_mag = hdg_corr_weight * dock_pos_rel_vehicle_cm.projected(_desired_heading_NE).length();
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target_cm = _dock_pos_rel_origin_cm - _desired_heading_NE * correction_vec_mag;
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}
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const Vector2p target_pos { target_cm.topostype() * 0.01 };
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g2.pos_control.input_pos_target(target_pos, rover.G_Dt);
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g2.pos_control.update(rover.G_Dt);
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// get desired speed and turn rate from pos_control
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float desired_speed = g2.pos_control.get_desired_speed();
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float desired_turn_rate = g2.pos_control.get_desired_turn_rate_rads();
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// slow down the vehicle as we approach the dock
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desired_speed = apply_slowdown(desired_speed);
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// run steering and throttle controllers
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calc_steering_from_turn_rate(desired_turn_rate);
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calc_throttle(desired_speed, true);
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#if HAL_LOGGING_ENABLED
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// @LoggerMessage: DOCK
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// @Description: Dock mode target information
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// @Field: TimeUS: Time since system startup
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// @Field: DockX: Docking Station position, X-Axis
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// @Field: DockY: Docking Station position, Y-Axis
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// @Field: DockDist: Distance to docking station
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// @Field: TPosX: Current Position Target, X-Axis
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// @Field: TPosY: Current Position Target, Y-Axis
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// @Field: DSpd: Desired speed
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// @Field: DTrnRt: Desired Turn Rate
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AP::logger().WriteStreaming(
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"DOCK",
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"TimeUS,DockX,DockY,DockDist,TPosX,TPosY,DSpd,DTrnRt",
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"smmmmmnE",
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"FBB0BB00",
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"Qfffffff",
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AP_HAL::micros64(),
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_dock_pos_rel_origin_cm.x,
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_dock_pos_rel_origin_cm.y,
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_distance_to_destination,
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target_cm.x,
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target_cm.y,
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desired_speed,
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desired_turn_rate);
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#endif
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}
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float ModeDock::apply_slowdown(float desired_speed)
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{
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const float dock_speed_slowdown_lmt = 0.5f;
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// no slowdown for speed below dock_speed_slowdown_lmt
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if (fabsf(desired_speed) < dock_speed_slowdown_lmt) {
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return desired_speed;
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}
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Vector3f target_vec_rel_vehicle_NED;
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if(!calc_dock_pos_rel_vehicle_NE(target_vec_rel_vehicle_NED.xy())) {
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return desired_speed;
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}
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const Matrix3f &body_to_ned = AP::ahrs().get_rotation_body_to_ned();
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Vector3f target_vec_body = body_to_ned.mul_transpose(target_vec_rel_vehicle_NED);
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const float target_error_cm = fabsf(target_vec_body.y);
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float error_ratio = target_error_cm / _acceptable_pos_error_cm;
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error_ratio = constrain_float(error_ratio, 0.0f, 1.0f);
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const float dock_slow_dist_max_m = 15.0f;
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const float dock_slow_dist_min_m = 5.0f;
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// approach slowdown is not applied when the vehicle is more than dock_slow_dist_max meters away
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// within dock_slow_dist_max and dock_slow_dist_min the weight of the slowdown increases linearly
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// once the vehicle reaches dock_slow_dist_min the slowdown weight becomes 1
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float slowdown_weight = 1 - (target_vec_body.x * 0.01f - dock_slow_dist_min_m) / (dock_slow_dist_max_m - dock_slow_dist_min_m);
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slowdown_weight = constrain_float(slowdown_weight, 0.0f, 1.0f);
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desired_speed = MAX(dock_speed_slowdown_lmt, fabsf(desired_speed) * (1 - error_ratio * slowdown_weight));
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// restrict speed to avoid going beyond stopping distance
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desired_speed = MIN(desired_speed, safe_sqrt(2 * fabsf(_distance_to_destination - stopping_dist) * g2.pos_control.get_accel_max()));
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// we worked on absolute value of speed before
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// make it negative again if reversed
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if (g2.pos_control.get_reversed()) {
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desired_speed *= -1;
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}
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return desired_speed;
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}
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// calculate position of dock relative to the vehicle
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// we need this method here because there can be a window during heading correction when we might lose the target
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// during that window precland won't be able to give us this vector
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// we can calculate it based on most recent value from precland because the dock is assumed stationary wrt ekf origin
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bool ModeDock::calc_dock_pos_rel_vehicle_NE(Vector2f &dock_pos_rel_vehicle) const {
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Vector2f current_pos_m;
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if (!AP::ahrs().get_relative_position_NE_origin(current_pos_m)) {
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return false;
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}
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dock_pos_rel_vehicle = _dock_pos_rel_origin_cm - current_pos_m * 100.0f;
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return true;
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}
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#endif // MODE_DOCK_ENABLED
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