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AC_Fence: add safety margin parameter

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This will allow auto modes to proactively avoid breaching the fence
This commit is contained in:
Randy Mackay 2013-08-15 16:05:38 +09:00
parent 6a2daf1a33
commit 04b84664e5
2 changed files with 14 additions and 1 deletions
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8
libraries/AC_Fence/AC_Fence.cpp
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@ -42,6 +42,14 @@ const AP_Param::GroupInfo AC_Fence::var_info[] PROGMEM = {
// @Range: 30 10000 // @Range: 30 10000
// @User: Standard // @User: Standard
AP_GROUPINFO("RADIUS", 4, AC_Fence, _circle_radius, AC_FENCE_CIRCLE_RADIUS_DEFAULT), AP_GROUPINFO("RADIUS", 4, AC_Fence, _circle_radius, AC_FENCE_CIRCLE_RADIUS_DEFAULT),
// @Param: MARGIN
// @DisplayName: Fence Margin
// @Description: Distance that autopilot's should maintain from the fence to avoid a breach
// @Units: Meters
// @Range: 1 10
// @User: Standard
AP_GROUPINFO("MARGIN", 5, AC_Fence, _margin, AC_FENCE_MARGIN_DEFAULT),
AP_GROUPEND AP_GROUPEND
}; };

7
libraries/AC_Fence/AC_Fence.h
View File

@ -22,6 +22,7 @@
#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 150.0f // default circular fence radius is 150m #define AC_FENCE_CIRCLE_RADIUS_DEFAULT 150.0f // default circular fence radius is 150m
#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up #define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out #define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out
#define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach
// give up distance // give up distance
#define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code #define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code
@ -66,6 +67,9 @@ public:
/// get_action - getter for user requested action on limit breach /// get_action - getter for user requested action on limit breach
uint8_t get_action() const { return _action.get(); } uint8_t get_action() const { return _action.get(); }
/// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin)
float get_safe_alt() const { return _alt_max - _margin; }
/// ///
/// time saving methods to piggy-back on main code's calculations /// time saving methods to piggy-back on main code's calculations
@ -93,6 +97,7 @@ private:
AP_Int8 _action; // recovery action specified by user AP_Int8 _action; // recovery action specified by user
AP_Float _alt_max; // altitude upper limit in meters AP_Float _alt_max; // altitude upper limit in meters
AP_Float _circle_radius; // circle fence radius in meters AP_Float _circle_radius; // circle fence radius in meters
AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach
// backup fences // backup fences
float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away
@ -100,7 +105,7 @@ private:
// breach distances // breach distances
float _alt_max_breach_distance; // distance above the altitude max float _alt_max_breach_distance; // distance above the altitude max
float _circle_breach_distance; // distance above the altitude max float _circle_breach_distance; // distance beyond the circular fence
// other internal variables // other internal variables
float _home_distance; // distance from home in meters (provided by main code) float _home_distance; // distance from home in meters (provided by main code)