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FW implement MAV_CMD_DO_GO_AROUND

This commit is contained in:
Daniel Agar 2016-07-29 20:24:21 -04:00 committed by Lorenz Meier
parent aa3ffa28c8
commit 2a15578f8d
9 changed files with 186 additions and 49 deletions
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2
Makefile
View File

@ -279,7 +279,7 @@ checks_last: \
check_format \
check: checks_defaults checks_tests checks_alts checks_uavcan checks_bootloaders checks_last
quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_tests check_format
quick_check: check_px4fmu-v2_default check_px4fmu-v4_default check_posix_sitl_default check_tests check_format
check_format:
$(call colorecho,"Checking formatting with astyle")

1
msg/vehicle_command.msg
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@ -32,6 +32,7 @@ uint32 VEHICLE_CMD_DO_REPEAT_RELAY = 182 # Cycle a relay on and off for a desir
uint32 VEHICLE_CMD_DO_SET_SERVO = 183 # Set a servo to a desired PWM value. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Empty| Empty| Empty| Empty| Empty|
uint32 VEHICLE_CMD_DO_REPEAT_SERVO = 184 # Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. |Servo number| PWM (microseconds, 1000 to 2000 typical)| Cycle count| Cycle time (seconds)| Empty| Empty| Empty|
uint32 VEHICLE_CMD_DO_FLIGHTTERMINATION = 185 # Terminate flight immediately |Flight termination activated if > 0.5| Empty| Empty| Empty| Empty| Empty| Empty|
uint32 VEHICLE_CMD_DO_GO_AROUND = 191 # Mission command to safely abort an autonmous landing. |Altitude (meters)| Empty| Empty| Empty| Empty| Empty| Empty| */
uint32 VEHICLE_CMD_DO_REPOSITION = 192
uint32 VEHICLE_CMD_DO_PAUSE_CONTINUE = 193
uint32 VEHICLE_CMD_DO_CONTROL_VIDEO = 200 # Control onboard camera system. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|

1
src/modules/commander/commander.cpp
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@ -1084,6 +1084,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
case vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST:
case vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL_QUAT:
case vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED:
case vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND:
case vehicle_command_s::VEHICLE_CMD_START_RX_PAIR:
/* ignore commands that handled in low prio loop */
break;

117
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -94,6 +94,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_land_detected.h>
@ -164,6 +165,7 @@ private:
int _pos_sp_triplet_sub;
int _ctrl_state_sub; /**< control state subscription */
int _control_mode_sub; /**< control mode subscription */
int _vehicle_command_sub; /**< vehicle command subscription */
int _vehicle_status_sub; /**< vehicle status subscription */
int _vehicle_land_detected_sub; /**< vehicle land detected subscription */
int _params_sub; /**< notification of parameter updates */
@ -181,6 +183,7 @@ private:
struct fw_pos_ctrl_status_s _fw_pos_ctrl_status; /**< navigation capabilities */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct vehicle_control_mode_s _control_mode; /**< control mode */
struct vehicle_command_s _vehicle_command; /**< vehicle commands */
struct vehicle_status_s _vehicle_status; /**< vehicle status */
struct vehicle_land_detected_s _vehicle_land_detected; /**< vehicle land detected */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
@ -387,6 +390,11 @@ private:
*/
void vehicle_control_mode_poll();
/**
* Check for new in vehicle commands
*/
void vehicle_command_poll();
/**
* Check for changes in vehicle status.
*/
@ -477,6 +485,11 @@ private:
void calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed_2d,
const struct position_setpoint_triplet_s &pos_sp_triplet);
/**
* Handle incoming vehicle commands
*/
void handle_command();
/**
* Shim for calling task_main from task_create.
*/
@ -533,6 +546,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_pos_sp_triplet_sub(-1),
_ctrl_state_sub(-1),
_control_mode_sub(-1),
_vehicle_command_sub(-1),
_vehicle_status_sub(-1),
_vehicle_land_detected_sub(-1),
_params_sub(-1),
@ -553,6 +567,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
_fw_pos_ctrl_status(),
_manual(),
_control_mode(),
_vehicle_command(),
_vehicle_status(),
_vehicle_land_detected(),
_global_pos(),
@ -830,6 +845,19 @@ FixedwingPositionControl::vehicle_control_mode_poll()
}
}
void
FixedwingPositionControl::vehicle_command_poll()
{
bool updated;
orb_check(_vehicle_command_sub, &updated);
if (updated) {
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &_vehicle_command);
handle_command();
}
}
void
FixedwingPositionControl::vehicle_status_poll()
{
@ -1396,34 +1424,36 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
float alt_sp;
if (_fw_pos_ctrl_status.abort_landing == true) {
// if we entered loiter due to an aborted landing, demand
// altitude setpoint well above landing waypoint
alt_sp = pos_sp_triplet.current.alt + 2.0f * _parameters.climbout_diff;
} else {
// use altitude given by waypoint
alt_sp = pos_sp_triplet.current.alt;
}
float alt_sp = pos_sp_triplet.current.alt;
if (in_takeoff_situation()) {
alt_sp = math::max(alt_sp, _takeoff_ground_alt + _parameters.climbout_diff);
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-5.0f), math::radians(5.0f));
}
if (in_takeoff_situation() ||
((_global_pos.alt < pos_sp_triplet.current.alt + _parameters.climbout_diff)
&& _fw_pos_ctrl_status.abort_landing == true)) {
/* limit roll motion to ensure enough lift */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f),
math::radians(10.0f));
if (_fw_pos_ctrl_status.abort_landing) {
if (pos_sp_triplet.current.alt - _global_pos.alt < _parameters.climbout_diff) {
// aborted landing complete, normal loiter over landing point
_fw_pos_ctrl_status.abort_landing = false;
} else {
// continue straight until vehicle has sufficient altitude
_att_sp.roll_body = 0.0f;
}
}
tecs_update_pitch_throttle(alt_sp, calculate_target_airspeed(mission_airspeed), eas2tas,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
tecs_update_pitch_throttle(alt_sp,
calculate_target_airspeed(mission_airspeed),
eas2tas,
math::radians(_parameters.pitch_limit_min),
math::radians(_parameters.pitch_limit_max),
_parameters.throttle_min,
_parameters.throttle_max,
_parameters.throttle_cruise,
false,
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed);
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
@ -1431,9 +1461,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// if they have been enabled using the corresponding parameter
_att_sp.apply_flaps = true;
// save time at which we started landing
// save time at which we started landing and reset abort_landing
if (_time_started_landing == 0) {
_time_started_landing = hrt_absolute_time();
_fw_pos_ctrl_status.abort_landing = false;
}
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
@ -2037,13 +2069,6 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// reset hold altitude
_hold_alt = _global_pos.alt;
// reset terrain estimation relevant values
_time_started_landing = 0;
_time_last_t_alt = 0;
// reset lading abort state
_fw_pos_ctrl_status.abort_landing = false;
/* reset landing and takeoff state */
if (!_last_manual) {
reset_landing_state();
@ -2147,6 +2172,25 @@ FixedwingPositionControl::get_tecs_thrust()
}
}
void
FixedwingPositionControl::handle_command()
{
if (_vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND) {
// only abort landing before point of no return (horizontal and vertical)
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if (_land_noreturn_vertical) {
mavlink_log_info(&_mavlink_log_pub, "#Landing, can't abort after flare");
} else {
_fw_pos_ctrl_status.abort_landing = true;
mavlink_log_info(&_mavlink_log_pub, "#Landing, aborted");
}
}
}
}
void
FixedwingPositionControl::task_main()
{
@ -2159,6 +2203,7 @@ FixedwingPositionControl::task_main()
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_vehicle_command_sub = orb_subscribe(ORB_ID(vehicle_command));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
_vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
@ -2210,6 +2255,9 @@ FixedwingPositionControl::task_main()
/* check vehicle control mode for changes to publication state */
vehicle_control_mode_poll();
/* check for new vehicle commands */
vehicle_command_poll();
/* check vehicle status for changes to publication state */
vehicle_status_poll();
@ -2321,12 +2369,23 @@ void FixedwingPositionControl::reset_landing_state()
{
_time_started_landing = 0;
// reset terrain estimation relevant values
_time_last_t_alt = 0;
_land_noreturn_horizontal = false;
_land_noreturn_vertical = false;
_land_stayonground = false;
_land_motor_lim = false;
_land_onslope = false;
_land_useterrain = false;
// reset abort land, unless loitering after an abort
if (_fw_pos_ctrl_status.abort_landing == true
&& _pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER) {
_fw_pos_ctrl_status.abort_landing = false;
}
}
void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_sp, float eas2tas,

53
src/modules/navigator/mission.cpp
View File

@ -74,6 +74,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_param_altmode(this, "MIS_ALTMODE", false),
_param_yawmode(this, "MIS_YAWMODE", false),
_param_force_vtol(this, "VT_NAV_FORCE_VT", false),
_param_fw_climbout_diff(this, "FW_CLMBOUT_DIFF", false),
_onboard_mission{},
_offboard_mission{},
_current_onboard_mission_index(-1),
@ -226,9 +227,17 @@ Mission::on_active()
&& _param_yawmode.get() < MISSION_YAWMODE_MAX
&& _mission_type != MISSION_TYPE_NONE)
|| _navigator->get_vstatus()->is_vtol) {
heading_sp_update();
}
/* check if landing needs to be aborted */
if ((_mission_item.nav_cmd == NAV_CMD_LAND)
&& (_navigator->abort_landing())) {
do_abort_landing();
}
}
void
@ -382,6 +391,7 @@ Mission::set_mission_items()
/* try setting onboard mission item */
if (_param_onboard_enabled.get()
&& prepare_mission_items(true, &_mission_item, &mission_item_next_position, &has_next_position_item)) {
/* if mission type changed, notify */
if (_mission_type != MISSION_TYPE_ONBOARD) {
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Executing internal mission");
@ -819,6 +829,7 @@ Mission::heading_sp_update()
|| _mission_item.nav_cmd == NAV_CMD_LAND
|| _mission_item.nav_cmd == NAV_CMD_VTOL_LAND
|| _work_item_type == WORK_ITEM_TYPE_ALIGN) {
return;
}
@ -852,6 +863,7 @@ Mission::heading_sp_update()
// (which would result in a wrong yaw setpoint spike during back transition)
&& _navigator->get_vstatus()->is_rotary_wing
&& !(_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION || _navigator->get_vstatus()->in_transition_mode)) {
point_to_latlon[0] = _navigator->get_home_position()->lat;
point_to_latlon[1] = _navigator->get_home_position()->lon;
@ -957,6 +969,47 @@ Mission::altitude_sp_foh_reset()
_min_current_sp_distance_xy = FLT_MAX;
}
void
Mission::do_abort_landing()
{
// Abort FW landing
// turn the land waypoint into a loiter and stay there
if (_mission_item.nav_cmd != NAV_CMD_LAND) {
return;
}
// loiter at the larger of MIS_LTRMIN_ALT above the landing point
// or 2 * FW_CLMBOUT_DIFF above the current altitude
float alt_landing = get_absolute_altitude_for_item(_mission_item);
float alt_sp = math::max(alt_landing + _param_loiter_min_alt.get(),
_navigator->get_global_position()->alt + (2 * _param_fw_climbout_diff.get()));
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = alt_sp;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.loiter_direction = 1;
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
mavlink_log_info(_navigator->get_mavlink_log_pub(), "Holding at %dm above landing)",
(int)(alt_sp - alt_landing));
// move mission index back 1 (landing approach point) so that re-entering
// the mission doesn't try to land from the loiter above land
// TODO: reset index to MAV_CMD_DO_LAND_START
_current_offboard_mission_index -= 1;
}
bool
Mission::prepare_mission_items(bool onboard, struct mission_item_s *mission_item,
struct mission_item_s *next_position_mission_item, bool *has_next_position_item)

6
src/modules/navigator/mission.h
View File

@ -164,6 +164,11 @@ private:
*/
void altitude_sp_foh_reset();
/**
* Abort landing
*/
void do_abort_landing();
float get_absolute_altitude_for_item(struct mission_item_s &mission_item);
/**
@ -230,6 +235,7 @@ private:
control::BlockParamInt _param_altmode;
control::BlockParamInt _param_yawmode;
control::BlockParamInt _param_force_vtol;
control::BlockParamFloat _param_fw_climbout_diff;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;

7
src/modules/navigator/mission_block.cpp
View File

@ -277,13 +277,15 @@ MissionBlock::is_mission_item_reached()
/* accept yaw if reached or if timeout is set in which case we ignore not forced headings */
if (fabsf(yaw_err) < math::radians(_param_yaw_err.get())
|| (_param_yaw_timeout.get() >= FLT_EPSILON && !_mission_item.force_heading)) {
_waypoint_yaw_reached = true;
}
/* if heading needs to be reached, the timeout is enabled and we don't make it, abort mission */
if (!_waypoint_yaw_reached && _mission_item.force_heading &&
_param_yaw_timeout.get() >= FLT_EPSILON &&
now - _time_wp_reached >= (hrt_abstime)_param_yaw_timeout.get() * 1e6f) {
(_param_yaw_timeout.get() >= FLT_EPSILON) &&
(now - _time_wp_reached >= (hrt_abstime)_param_yaw_timeout.get() * 1e6f)) {
_navigator->set_mission_failure("unable to reach heading within timeout");
}
@ -403,6 +405,7 @@ MissionBlock::item_contains_position(const struct mission_item_s *item)
item->nav_cmd == NAV_CMD_DO_MOUNT_CONTROL ||
item->nav_cmd == NAV_CMD_DO_SET_CAM_TRIGG_DIST ||
item->nav_cmd == NAV_CMD_DO_VTOL_TRANSITION) {
return false;
}

3
src/modules/navigator/navigator.h
View File

@ -185,7 +185,6 @@ public:
*/
void set_cruising_speed(float speed=-1.0f) { _mission_cruising_speed = speed; }
/**
* Get the target throttle
*
@ -214,6 +213,8 @@ public:
bool is_planned_mission() { return _navigation_mode == &_mission; }
bool abort_landing();
private:
bool _task_should_exit; /**< if true, sensor task should exit */

31
src/modules/navigator/navigator_main.cpp
View File

@ -540,15 +540,8 @@ Navigator::task_main()
_can_loiter_at_sp = false;
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
if (_fw_pos_ctrl_status.abort_landing) {
// pos controller aborted landing, requests loiter
// above landing waypoint
_navigation_mode = &_loiter;
_pos_sp_triplet_published_invalid_once = false;
} else {
_pos_sp_triplet_published_invalid_once = false;
_navigation_mode = &_mission;
}
break;
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
_pos_sp_triplet_published_invalid_once = false;
@ -780,16 +773,36 @@ Navigator::get_acceptance_radius(float mission_item_radius)
return radius;
}
void Navigator::add_fence_point(int argc, char *argv[])
void
Navigator::add_fence_point(int argc, char *argv[])
{
_geofence.addPoint(argc, argv);
}
void Navigator::load_fence_from_file(const char *filename)
void
Navigator::load_fence_from_file(const char *filename)
{
_geofence.loadFromFile(filename);
}
bool
Navigator::abort_landing()
{
bool should_abort = false;
if (!_vstatus.is_rotary_wing && !_vstatus.in_transition_mode) {
if (hrt_elapsed_time(&_fw_pos_ctrl_status.timestamp) < 1000000) {
if (get_position_setpoint_triplet()->current.valid
&& get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
should_abort = _fw_pos_ctrl_status.abort_landing;
}
}
}
return should_abort;
}
static void usage()
{