mirror of https://github.com/ArduPilot/ardupilot
488 lines
18 KiB
C++
488 lines
18 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Copter.h"
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/*
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* control_rtl.pde - init and run calls for RTL flight mode
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*
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* There are two parts to RTL, the high level decision making which controls which state we are in
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* and the lower implementation of the waypoint or landing controllers within those states
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*/
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// rtl_init - initialise rtl controller
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bool Copter::rtl_init(bool ignore_checks)
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{
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if (position_ok() || ignore_checks) {
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rtl_build_path(!failsafe.terrain);
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rtl_climb_start();
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return true;
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}else{
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return false;
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}
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}
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// re-start RTL with terrain following disabled
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void Copter::rtl_restart_without_terrain()
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{
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// log an error
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Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_RESTARTED_RTL);
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if (rtl_path.terrain_used) {
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rtl_build_path(false);
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rtl_climb_start();
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gcs_send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing");
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}
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}
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// rtl_run - runs the return-to-launch controller
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// should be called at 100hz or more
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void Copter::rtl_run()
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{
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// check if we need to move to next state
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if (rtl_state_complete) {
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switch (rtl_state) {
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case RTL_InitialClimb:
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rtl_return_start();
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break;
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case RTL_ReturnHome:
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rtl_loiterathome_start();
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break;
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case RTL_LoiterAtHome:
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if (rtl_path.land || failsafe.radio) {
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rtl_land_start();
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}else{
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rtl_descent_start();
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}
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break;
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case RTL_FinalDescent:
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// do nothing
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break;
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case RTL_Land:
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// do nothing - rtl_land_run will take care of disarming motors
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break;
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}
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}
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// call the correct run function
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switch (rtl_state) {
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case RTL_InitialClimb:
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rtl_climb_return_run();
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break;
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case RTL_ReturnHome:
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rtl_climb_return_run();
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break;
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case RTL_LoiterAtHome:
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rtl_loiterathome_run();
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break;
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case RTL_FinalDescent:
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rtl_descent_run();
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break;
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case RTL_Land:
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rtl_land_run();
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break;
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}
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}
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// rtl_climb_start - initialise climb to RTL altitude
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void Copter::rtl_climb_start()
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{
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rtl_state = RTL_InitialClimb;
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rtl_state_complete = false;
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// initialise waypoint and spline controller
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wp_nav.wp_and_spline_init();
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// RTL_SPEED == 0 means use WPNAV_SPEED
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if (g.rtl_speed_cms != 0) {
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wp_nav.set_speed_xy(g.rtl_speed_cms);
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}
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// set the destination
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if (!wp_nav.set_wp_destination(rtl_path.climb_target)) {
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// this should not happen because rtl_build_path will have checked terrain data was available
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Log_Write_Error(ERROR_SUBSYSTEM_NAVIGATION, ERROR_CODE_FAILED_TO_SET_DESTINATION);
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set_mode(LAND, MODE_REASON_TERRAIN_FAILSAFE);
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return;
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}
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wp_nav.set_fast_waypoint(true);
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// hold current yaw during initial climb
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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// rtl_return_start - initialise return to home
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void Copter::rtl_return_start()
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{
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rtl_state = RTL_ReturnHome;
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rtl_state_complete = false;
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if (!wp_nav.set_wp_destination(rtl_path.return_target)) {
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// failure must be caused by missing terrain data, restart RTL
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rtl_restart_without_terrain();
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}
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// initialise yaw to point home (maybe)
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set_auto_yaw_mode(get_default_auto_yaw_mode(true));
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}
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// rtl_climb_return_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller
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// called by rtl_run at 100hz or more
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void Copter::rtl_climb_return_run()
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{
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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// reset attitude control targets
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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// To-Do: re-initialise wpnav targets
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return;
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}
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// process pilot's yaw input
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float target_yaw_rate = 0;
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if (!failsafe.radio) {
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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if (!is_zero(target_yaw_rate)) {
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run waypoint controller
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failsafe_terrain_set_status(wp_nav.update_wpnav());
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// call z-axis position controller (wpnav should have already updated it's alt target)
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pos_control.update_z_controller();
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// call attitude controller
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if (auto_yaw_mode == AUTO_YAW_HOLD) {
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
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}else{
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// roll, pitch from waypoint controller, yaw heading from auto_heading()
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attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true, get_smoothing_gain());
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}
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// check if we've completed this stage of RTL
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rtl_state_complete = wp_nav.reached_wp_destination();
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}
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// rtl_loiterathome_start - initialise return to home
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void Copter::rtl_loiterathome_start()
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{
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rtl_state = RTL_LoiterAtHome;
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rtl_state_complete = false;
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rtl_loiter_start_time = millis();
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// yaw back to initial take-off heading yaw unless pilot has already overridden yaw
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if(get_default_auto_yaw_mode(true) != AUTO_YAW_HOLD) {
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set_auto_yaw_mode(AUTO_YAW_RESETTOARMEDYAW);
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} else {
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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}
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// rtl_climb_return_descent_run - implements the initial climb, return home and descent portions of RTL which all rely on the wp controller
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// called by rtl_run at 100hz or more
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void Copter::rtl_loiterathome_run()
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{
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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// reset attitude control targets
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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// To-Do: re-initialise wpnav targets
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return;
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}
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// process pilot's yaw input
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float target_yaw_rate = 0;
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if (!failsafe.radio) {
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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if (!is_zero(target_yaw_rate)) {
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// run waypoint controller
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failsafe_terrain_set_status(wp_nav.update_wpnav());
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// call z-axis position controller (wpnav should have already updated it's alt target)
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pos_control.update_z_controller();
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// call attitude controller
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if (auto_yaw_mode == AUTO_YAW_HOLD) {
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
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}else{
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// roll, pitch from waypoint controller, yaw heading from auto_heading()
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attitude_control.input_euler_angle_roll_pitch_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), get_auto_heading(),true, get_smoothing_gain());
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}
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// check if we've completed this stage of RTL
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if ((millis() - rtl_loiter_start_time) >= (uint32_t)g.rtl_loiter_time.get()) {
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if (auto_yaw_mode == AUTO_YAW_RESETTOARMEDYAW) {
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// check if heading is within 2 degrees of heading when vehicle was armed
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if (labs(wrap_180_cd(ahrs.yaw_sensor-initial_armed_bearing)) <= 200) {
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rtl_state_complete = true;
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}
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} else {
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// we have loitered long enough
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rtl_state_complete = true;
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}
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}
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}
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// rtl_descent_start - initialise descent to final alt
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void Copter::rtl_descent_start()
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{
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rtl_state = RTL_FinalDescent;
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rtl_state_complete = false;
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// Set wp navigation target to above home
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wp_nav.init_loiter_target(wp_nav.get_wp_destination());
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// initialise altitude target to stopping point
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pos_control.set_target_to_stopping_point_z();
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// initialise yaw
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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// rtl_descent_run - implements the final descent to the RTL_ALT
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// called by rtl_run at 100hz or more
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void Copter::rtl_descent_run()
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{
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int16_t roll_control = 0, pitch_control = 0;
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float target_yaw_rate = 0;
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// if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
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if (!motors.armed() || !ap.auto_armed || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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// set target to current position
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wp_nav.init_loiter_target();
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return;
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}
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// process pilot's input
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if (!failsafe.radio) {
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if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
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Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
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// exit land if throttle is high
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if (!set_mode(LOITER, MODE_REASON_THROTTLE_LAND_ESCAPE)) {
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set_mode(ALT_HOLD, MODE_REASON_THROTTLE_LAND_ESCAPE);
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}
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}
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if (g.land_repositioning) {
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// apply SIMPLE mode transform to pilot inputs
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update_simple_mode();
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// process pilot's roll and pitch input
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roll_control = channel_roll->get_control_in();
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pitch_control = channel_pitch->get_control_in();
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}
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// get pilot's desired yaw rate
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target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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// process roll, pitch inputs
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wp_nav.set_pilot_desired_acceleration(roll_control, pitch_control);
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// run loiter controller
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wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
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// call z-axis position controller
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pos_control.set_alt_target_with_slew(rtl_path.descent_target.alt, G_Dt);
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pos_control.update_z_controller();
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// roll & pitch from waypoint controller, yaw rate from pilot
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate, get_smoothing_gain());
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// check if we've reached within 20cm of final altitude
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rtl_state_complete = fabsf(rtl_path.descent_target.alt - current_loc.alt) < 20.0f;
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}
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// rtl_loiterathome_start - initialise controllers to loiter over home
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void Copter::rtl_land_start()
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{
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rtl_state = RTL_Land;
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rtl_state_complete = false;
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// Set wp navigation target to above home
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wp_nav.init_loiter_target(wp_nav.get_wp_destination());
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// initialise position and desired velocity
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pos_control.set_alt_target(inertial_nav.get_altitude());
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pos_control.set_desired_velocity_z(inertial_nav.get_velocity_z());
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// initialise yaw
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set_auto_yaw_mode(AUTO_YAW_HOLD);
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}
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// rtl_returnhome_run - return home
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// called by rtl_run at 100hz or more
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void Copter::rtl_land_run()
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{
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// if not auto armed or landing completed or motor interlock not enabled set throttle to zero and exit immediately
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if (!motors.armed() || !ap.auto_armed || ap.land_complete || !motors.get_interlock()) {
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#if FRAME_CONFIG == HELI_FRAME // Helicopters always stabilize roll/pitch/yaw
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// call attitude controller
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(0, 0, 0, get_smoothing_gain());
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attitude_control.set_throttle_out(0,false,g.throttle_filt);
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#else
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motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);
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// multicopters do not stabilize roll/pitch/yaw when disarmed
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attitude_control.set_throttle_out_unstabilized(0,true,g.throttle_filt);
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#endif
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// set target to current position
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wp_nav.init_loiter_target();
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#if LAND_REQUIRE_MIN_THROTTLE_TO_DISARM == ENABLED
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// disarm when the landing detector says we've landed and throttle is at minimum
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if (ap.land_complete && (ap.throttle_zero || failsafe.radio)) {
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init_disarm_motors();
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}
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#else
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// disarm when the landing detector says we've landed
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if (ap.land_complete) {
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init_disarm_motors();
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}
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#endif
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// check if we've completed this stage of RTL
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rtl_state_complete = ap.land_complete;
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return;
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}
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// set motors to full range
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motors.set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
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land_run_horizontal_control();
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land_run_vertical_control();
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// check if we've completed this stage of RTL
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rtl_state_complete = ap.land_complete;
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}
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void Copter::rtl_build_path(bool terrain_following_allowed)
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{
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// origin point is our stopping point
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Vector3f stopping_point;
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pos_control.get_stopping_point_xy(stopping_point);
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pos_control.get_stopping_point_z(stopping_point);
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rtl_path.origin_point = Location_Class(stopping_point);
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rtl_path.origin_point.change_alt_frame(Location_Class::ALT_FRAME_ABOVE_HOME);
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// set return target to nearest rally point or home position
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#if AC_RALLY == ENABLED
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rtl_path.return_target = rally.calc_best_rally_or_home_location(current_loc, ahrs.get_home().alt);
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#else
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rtl_path.return_target = ahrs.get_home();
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#endif
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// compute return altitude
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rtl_compute_return_alt(rtl_path.origin_point, rtl_path.return_target, terrain_following_allowed);
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// climb target is above our origin point at the return altitude
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rtl_path.climb_target = Location_Class(rtl_path.origin_point.lat, rtl_path.origin_point.lng, rtl_path.return_target.alt, rtl_path.return_target.get_alt_frame());
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// descent target is below return target at rtl_alt_final
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rtl_path.descent_target = Location_Class(rtl_path.return_target.lat, rtl_path.return_target.lng, g.rtl_alt_final, Location_Class::ALT_FRAME_ABOVE_HOME);
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// set land flag
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rtl_path.land = g.rtl_alt_final <= 0;
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}
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// return altitude in cm above home at which vehicle should return home
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// rtl_origin_point is the stopping point of the vehicle when rtl is initiated
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// rtl_return_target is the home or rally point that the vehicle is returning to. It's lat, lng and alt values must already have been filled in before this function is called
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// rtl_return_target's altitude is updated to a higher altitude that the vehicle can safely return at (frame may also be set)
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void Copter::rtl_compute_return_alt(const Location_Class &rtl_origin_point, Location_Class &rtl_return_target, bool terrain_following_allowed)
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{
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float rtl_return_dist_cm = rtl_return_target.get_distance(rtl_origin_point) * 100.0f;
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// curr_alt is current altitude above home or above terrain depending upon use_terrain
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int32_t curr_alt = current_loc.alt;
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// decide if we should use terrain altitudes
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|
rtl_path.terrain_used = terrain_use() && terrain_following_allowed;
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|
if (rtl_path.terrain_used) {
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|
// attempt to retrieve terrain alt for current location, stopping point and origin
|
|
int32_t origin_terr_alt, return_target_terr_alt;
|
|
if (!rtl_origin_point.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, origin_terr_alt) ||
|
|
!rtl_origin_point.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, return_target_terr_alt) ||
|
|
!current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_alt)) {
|
|
rtl_path.terrain_used = false;
|
|
Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
|
|
}
|
|
}
|
|
|
|
// maximum of current altitude + climb_min and rtl altitude
|
|
float ret = MAX(curr_alt + MAX(0, g.rtl_climb_min), MAX(g.rtl_altitude, RTL_ALT_MIN));
|
|
|
|
// don't allow really shallow slopes
|
|
if (g.rtl_cone_slope >= RTL_MIN_CONE_SLOPE) {
|
|
ret = MAX(curr_alt, MIN(ret, MAX(rtl_return_dist_cm*g.rtl_cone_slope, curr_alt+RTL_ABS_MIN_CLIMB)));
|
|
}
|
|
|
|
#if AC_FENCE == ENABLED
|
|
// ensure not above fence altitude if alt fence is enabled
|
|
// Note: we are assuming the fence alt is the same frame as ret
|
|
if ((fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
|
|
ret = MIN(ret, fence.get_safe_alt()*100.0f);
|
|
}
|
|
#endif
|
|
|
|
// ensure we do not descend
|
|
ret = MAX(ret, curr_alt);
|
|
|
|
// convert return-target to alt-above-home or alt-above-terrain
|
|
if (!rtl_path.terrain_used || !rtl_return_target.change_alt_frame(Location_Class::ALT_FRAME_ABOVE_TERRAIN)) {
|
|
if (!rtl_return_target.change_alt_frame(Location_Class::ALT_FRAME_ABOVE_HOME)) {
|
|
// this should never happen but just in case
|
|
rtl_return_target.set_alt_cm(0, Location_Class::ALT_FRAME_ABOVE_HOME);
|
|
}
|
|
}
|
|
|
|
// add ret to altitude
|
|
rtl_return_target.alt += ret;
|
|
}
|