mirror of https://github.com/ArduPilot/ardupilot
255 lines
13 KiB
C++
255 lines
13 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AC_WPNAV_H
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#define AC_WPNAV_H
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#include <inttypes.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <AC_PID.h> // PID library
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#include <APM_PI.h> // PID library
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#include <AP_InertialNav.h> // Inertial Navigation library
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// loiter maximum velocities and accelerations
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#define WPNAV_ACCELERATION 100.0f // defines the default velocity vs distant curve. maximum acceleration in cm/s/s that position controller asks for from acceleration controller
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#define WPNAV_ACCELERATION_MIN 50.0f // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
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#define WPNAV_ACCEL_MAX 980.0f // max acceleration in cm/s/s that the loiter velocity controller will ask from the lower accel controller.
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// should be 1.5 times larger than WPNAV_ACCELERATION.
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// max acceleration = max lean angle * 980 * pi / 180. i.e. 23deg * 980 * 3.141 / 180 = 393 cm/s/s
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#define WPNAV_LOITER_SPEED 500.0f // maximum default loiter speed in cm/s
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#define WPNAV_LOITER_ACCEL_MAX 250.0f // maximum acceleration in loiter mode
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#define WPNAV_LOITER_ACCEL_MIN 25.0f // minimum acceleration in loiter mode
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#define WPNAV_LOITER_SPEED_MAX_TO_CORRECT_ERROR 200.0f // maximum speed used to correct position error (i.e. not including feed forward)
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#define MAX_LEAN_ANGLE 4500 // default maximum lean angle
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#define WPNAV_WP_SPEED 500.0f // default horizontal speed betwen waypoints in cm/s
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#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
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#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
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#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
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#define WPNAV_ALT_HOLD_P 1.0f // default throttle controller's altitude hold's P gain.
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#define WPNAV_ALT_HOLD_ACCEL_MAX 250.0f // hard coded copy of throttle controller's maximum acceleration in cm/s. To-Do: remove duplication with throttle controller definition
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#define WPNAV_MIN_LEASH_LENGTH 100.0f // minimum leash lengths in cm
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class AC_WPNav
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{
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public:
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/// Constructor
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AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, APM_PI* pid_pos_lat, APM_PI* pid_pos_lon, AC_PID* pid_rate_lat, AC_PID* pid_rate_lon);
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///
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/// simple loiter controller
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///
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/// get_loiter_target - get loiter target as position vector (from home in cm)
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const Vector3f &get_loiter_target() const { return _target; }
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/// set_loiter_target in cm from home
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void set_loiter_target(const Vector3f& position);
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/// init_loiter_target - set initial loiter target based on current position and velocity
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void init_loiter_target(const Vector3f& position, const Vector3f& velocity);
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/// move_loiter_target - move destination using pilot input
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void move_loiter_target(float control_roll, float control_pitch, float dt);
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/// get_distance_to_target - get horizontal distance to loiter target in cm
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float get_distance_to_target() const;
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/// get_bearing_to_target - get bearing to loiter target in centi-degrees
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int32_t get_bearing_to_target() const;
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/// update_loiter - run the loiter controller - should be called at 10hz
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void update_loiter();
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/// get_stopping_point - returns vector to stopping point based on a horizontal position and velocity
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void get_stopping_point(const Vector3f& position, const Vector3f& velocity, Vector3f &target) const;
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///
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/// waypoint controller
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///
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/// get_destination waypoint using position vector (distance from home in cm)
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const Vector3f &get_destination() const { return _destination; }
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/// set_destination waypoint using position vector (distance from home in cm)
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void set_destination(const Vector3f& destination);
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/// set_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
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void set_origin_and_destination(const Vector3f& origin, const Vector3f& destination);
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/// advance_target_along_track - move target location along track from origin to destination
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void advance_target_along_track(float dt);
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/// get_distance_to_destination - get horizontal distance to destination in cm
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float get_distance_to_destination();
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/// get_bearing_to_destination - get bearing to next waypoint in centi-degrees
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int32_t get_bearing_to_destination();
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/// reached_destination - true when we have come within RADIUS cm of the waypoint
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bool reached_destination() const { return _flags.reached_destination; }
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/// set_fast_waypoint - set to true to ignore the waypoint radius and consider the waypoint 'reached' the moment the intermediate point reaches it
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void set_fast_waypoint(bool fast) { _flags.fast_waypoint = fast; }
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/// update_wp - update waypoint controller
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void update_wpnav();
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///
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/// shared methods
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///
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/// get desired roll, pitch which should be fed into stabilize controllers
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int32_t get_desired_roll() const { return _desired_roll; };
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int32_t get_desired_pitch() const { return _desired_pitch; };
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/// get_desired_alt - get desired altitude (in cm above home) from loiter or wp controller which should be fed into throttle controller
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float get_desired_alt() const { return _target.z; }
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/// set_desired_alt - set desired altitude (in cm above home)
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void set_desired_alt(float desired_alt) { _target.z = desired_alt; }
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/// set_cos_sin_yaw - short-cut to save on calculations to convert from roll-pitch frame to lat-lon frame
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void set_cos_sin_yaw(float cos_yaw, float sin_yaw, float cos_pitch) {
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_cos_yaw = cos_yaw;
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_sin_yaw = sin_yaw;
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_cos_pitch = cos_pitch;
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}
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/// set_althold_kP - pass in alt hold controller's P gain
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void set_althold_kP(float kP) { if(kP>0.0f) _althold_kP = kP; }
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/// set_horizontal_velocity - allows main code to pass target horizontal velocity for wp navigation
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void set_horizontal_velocity(float velocity_cms) { _wp_speed_cms = velocity_cms; };
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/// get_horizontal_velocity - allows main code to retrieve target horizontal velocity for wp navigation
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float get_horizontal_velocity() { return _wp_speed_cms; };
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/// get_climb_velocity - returns target climb speed in cm/s during missions
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float get_climb_velocity() const { return _wp_speed_up_cms; };
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/// get_descent_velocity - returns target descent speed in cm/s during missions. Note: always positive
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float get_descent_velocity() const { return _wp_speed_down_cms; };
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/// get_waypoint_radius - access for waypoint radius in cm
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float get_waypoint_radius() const { return _wp_radius_cm; }
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/// get_waypoint_acceleration - returns acceleration in cm/s/s during missions
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float get_waypoint_acceleration() const { return _wp_accel_cms.get(); }
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/// set_lean_angle_max - limits maximum lean angle
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void set_lean_angle_max(int16_t angle_cd) { if (angle_cd >= 1000 && angle_cd <= 8000) {_lean_angle_max_cd = angle_cd;} }
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// flags structure
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struct wpnav_flags {
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uint8_t reached_destination : 1; // true if we have reached the destination
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uint8_t fast_waypoint : 1; // true if we should ignore the waypoint radius and consider the waypoint complete once the intermediate target has reached the waypoint
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} _flags;
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/// translate_loiter_target_movements - consumes adjustments created by move_loiter_target
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void translate_loiter_target_movements(float nav_dt);
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/// get_loiter_position_to_velocity - loiter position controller
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/// converts desired position held in _target vector to desired velocity
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void get_loiter_position_to_velocity(float dt, float max_speed_cms);
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/// get_loiter_velocity_to_acceleration - loiter velocity controller
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/// converts desired velocities in lat/lon directions to accelerations in lat/lon frame
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void get_loiter_velocity_to_acceleration(float vel_lat_cms, float vel_lon_cms, float dt);
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/// get_loiter_acceleration_to_lean_angles - loiter acceleration controller
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/// converts desired accelerations provided in lat/lon frame to roll/pitch angles
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void get_loiter_acceleration_to_lean_angles(float accel_lat_cmss, float accel_lon_cmss);
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/// get_bearing_cd - return bearing in centi-degrees between two positions
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float get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const;
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/// reset_I - clears I terms from loiter PID controller
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void reset_I();
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/// calculate_loiter_leash_length - calculates the maximum distance in cm that the target position may be from the current location
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void calculate_loiter_leash_length();
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/// calculate_wp_leash_length - calculates horizontal and vertical leash lengths for waypoint controller
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/// set climb param to true if track climbs vertically, false if descending
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void calculate_wp_leash_length(bool climb);
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// references to inertial nav and ahrs libraries
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const AP_InertialNav* const _inav;
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const AP_AHRS* const _ahrs;
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// pointers to pid controllers
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APM_PI* const _pid_pos_lat;
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APM_PI* const _pid_pos_lon;
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AC_PID* const _pid_rate_lat;
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AC_PID* const _pid_rate_lon;
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// parameters
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AP_Float _loiter_speed_cms; // maximum horizontal speed in cm/s while in loiter
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AP_Float _wp_speed_cms; // maximum horizontal speed in cm/s during missions
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AP_Float _wp_speed_up_cms; // climb speed target in cm/s
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AP_Float _wp_speed_down_cms; // descent speed target in cm/s
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AP_Float _wp_radius_cm; // distance from a waypoint in cm that, when crossed, indicates the wp has been reached
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AP_Float _wp_accel_cms; // acceleration in cm/s/s during missions
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uint8_t _loiter_step; // used to decide which portion of loiter controller to run during this iteration
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uint8_t _wpnav_step; // used to decide which portion of wpnav controller to run during this iteration
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uint32_t _loiter_last_update; // time of last update_loiter call
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uint32_t _wpnav_last_update; // time of last update_wpnav call
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float _loiter_dt; // time difference since last loiter call
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float _wpnav_dt; // time difference since last loiter call
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float _cos_yaw; // short-cut to save on calcs required to convert roll-pitch frame to lat-lon frame
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float _sin_yaw;
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float _cos_pitch;
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float _althold_kP; // alt hold's P gain
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// output from controller
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int32_t _desired_roll; // fed to stabilize controllers at 50hz
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int32_t _desired_pitch; // fed to stabilize controllers at 50hz
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// loiter controller internal variables
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Vector3f _target; // loiter's target location in cm from home
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int16_t _pilot_vel_forward_cms; // pilot's desired velocity forward (body-frame)
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int16_t _pilot_vel_right_cms; // pilot's desired velocity right (body-frame)
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Vector3f _target_vel; // pilot's latest desired velocity in earth-frame
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Vector3f _vel_last; // previous iterations velocity in cm/s
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float _loiter_leash; // loiter's horizontal leash length in cm. used to stop the pilot from pushing the target location too far from the current location
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float _loiter_accel_cms; // loiter's acceleration in cm/s/s
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int16_t _lean_angle_max_cd; // maximum lean angle in centi-degrees
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// waypoint controller internal variables
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Vector3f _origin; // starting point of trip to next waypoint in cm from home (equivalent to next_WP)
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Vector3f _destination; // target destination in cm from home (equivalent to next_WP)
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Vector3f _pos_delta_unit; // each axis's percentage of the total track from origin to destination
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float _track_length; // distance in cm between origin and destination
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float _track_desired; // our desired distance along the track in cm
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float _distance_to_target; // distance to loiter target
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float _wp_leash_xy; // horizontal leash length in cm
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float _wp_leash_z; // horizontal leash length in cm
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float _limited_speed_xy_cms; // horizontal speed in cm/s used to advance the intermediate target towards the destination. used to limit extreme acceleration after passing a waypoint
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float _track_accel; // acceleration along track
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float _track_speed; // speed in cm/s along track
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float _track_leash_length; // leash length along track
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public:
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// for logging purposes
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Vector2f dist_error; // distance error calculated by loiter controller
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Vector2f desired_vel; // loiter controller desired velocity
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Vector2f desired_accel; // the resulting desired acceleration
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// To-Do: add split of fast (100hz for accel->angle) and slow (10hz for navigation)
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/// update - run the loiter and wpnav controllers - should be called at 100hz
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//void update_100hz(void);
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/// update - run the loiter and wpnav controllers - should be called at 10hz
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//void update_10hz(void);
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};
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#endif // AC_WPNAV_H
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