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