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generic position controller status/feedback message

This commit is contained in:
Daniel Agar 2018-07-25 10:31:17 -04:00
parent 223dacee64
commit 5207c420c3
16 changed files with 303 additions and 279 deletions
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3
msg/CMakeLists.txt
View File

@ -58,7 +58,6 @@ set(msg_files
esc_status.msg
estimator_status.msg
follow_target.msg
fw_pos_ctrl_status.msg
geofence_result.msg
gps_dump.msg
gps_inject_data.msg
@ -81,6 +80,8 @@ set(msg_files
optical_flow.msg
parameter_update.msg
ping.msg
position_controller_landing_status.msg
position_controller_status.msg
position_setpoint.msg
position_setpoint_triplet.msg
power_button_state.msg

14
msg/fw_pos_ctrl_status.msg
View File

@ -1,14 +0,0 @@
uint64 timestamp # time since system start (microseconds)
float32 nav_roll
float32 nav_pitch
float32 nav_bearing
float32 target_bearing
float32 wp_dist
float32 xtrack_error
float32 turn_distance # the optimal distance to a waypoint to switch to the next
float32 landing_horizontal_slope_displacement
float32 landing_slope_angle_rad
float32 landing_flare_length
bool abort_landing

9
msg/position_controller_landing_status.msg Normal file
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@ -0,0 +1,9 @@
uint64 timestamp # time since system start (microseconds)
float32 horizontal_slope_displacement
float32 slope_angle_rad
float32 flare_length
bool abort_landing # true if landing should be aborted

14
msg/position_controller_status.msg Normal file
View File

@ -0,0 +1,14 @@
uint64 timestamp # time since system start (microseconds)
float32 nav_roll
float32 nav_pitch
float32 nav_bearing
float32 target_bearing
float32 xtrack_error
float32 wp_dist
float32 acceptance_radius # the optimal distance to a waypoint to switch to the next
float32 yaw_acceptance # NaN if not set

222
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -277,13 +277,7 @@ FixedwingPositionControl::parameters_update()
_landingslope.update(radians(land_slope_angle), land_flare_alt_relative, land_thrust_lim_alt_relative, land_H1_virt);
// Update and publish the navigation capabilities
_fw_pos_ctrl_status.landing_slope_angle_rad = _landingslope.landing_slope_angle_rad();
_fw_pos_ctrl_status.landing_horizontal_slope_displacement = _landingslope.horizontal_slope_displacement();
_fw_pos_ctrl_status.landing_flare_length = _landingslope.flare_length();
fw_pos_ctrl_status_publish();
landing_status_publish();
// sanity check parameters
if ((_parameters.airspeed_max < _parameters.airspeed_min) ||
@ -546,18 +540,121 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const Vector2f &curr_pos
}
void
FixedwingPositionControl::fw_pos_ctrl_status_publish()
FixedwingPositionControl::tecs_status_publish()
{
_fw_pos_ctrl_status.timestamp = hrt_absolute_time();
tecs_status_s t = {};
if (_fw_pos_ctrl_status_pub != nullptr) {
orb_publish(ORB_ID(fw_pos_ctrl_status), _fw_pos_ctrl_status_pub, &_fw_pos_ctrl_status);
switch (_tecs.tecs_mode()) {
case TECS::ECL_TECS_MODE_NORMAL:
t.mode = tecs_status_s::TECS_MODE_NORMAL;
break;
case TECS::ECL_TECS_MODE_UNDERSPEED:
t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
break;
case TECS::ECL_TECS_MODE_BAD_DESCENT:
t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
break;
case TECS::ECL_TECS_MODE_CLIMBOUT:
t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
break;
}
t.altitude_sp = _tecs.hgt_setpoint_adj();
t.altitude_filtered = _tecs.vert_pos_state();
t.airspeed_sp = _tecs.TAS_setpoint_adj();
t.airspeed_filtered = _tecs.tas_state();
t.flight_path_angle_sp = _tecs.hgt_rate_setpoint();
t.flight_path_angle = _tecs.vert_vel_state();
t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
t.airspeed_derivative = _tecs.speed_derivative();
t.total_energy_error = _tecs.STE_error();
t.total_energy_rate_error = _tecs.STE_rate_error();
t.energy_distribution_error = _tecs.SEB_error();
t.energy_distribution_rate_error = _tecs.SEB_rate_error();
t.throttle_integ = _tecs.throttle_integ_state();
t.pitch_integ = _tecs.pitch_integ_state();
t.timestamp = hrt_absolute_time();
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
} else {
_fw_pos_ctrl_status_pub = orb_advertise(ORB_ID(fw_pos_ctrl_status), &_fw_pos_ctrl_status);
_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
}
}
void
FixedwingPositionControl::status_publish()
{
position_controller_status_s pos_ctrl_status = {};
pos_ctrl_status.nav_roll = _att_sp.roll_body;
pos_ctrl_status.nav_pitch = _att_sp.pitch_body;
pos_ctrl_status.nav_bearing = _l1_control.nav_bearing();
pos_ctrl_status.target_bearing = _l1_control.target_bearing();
pos_ctrl_status.xtrack_error = _l1_control.crosstrack_error();
pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
pos_ctrl_status.acceptance_radius = _l1_control.switch_distance(500.0f);
pos_ctrl_status.yaw_acceptance = NAN;
pos_ctrl_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_status), _pos_ctrl_status_pub, &pos_ctrl_status);
} else {
_pos_ctrl_status_pub = orb_advertise(ORB_ID(position_controller_status), &pos_ctrl_status);
}
}
void
FixedwingPositionControl::landing_status_publish()
{
position_controller_landing_status_s pos_ctrl_landing_status = {};
pos_ctrl_landing_status.slope_angle_rad = _landingslope.landing_slope_angle_rad();
pos_ctrl_landing_status.horizontal_slope_displacement = _landingslope.horizontal_slope_displacement();
pos_ctrl_landing_status.flare_length = _landingslope.flare_length();
pos_ctrl_landing_status.abort_landing = _land_abort;
pos_ctrl_landing_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_landing_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_landing_status), _pos_ctrl_landing_status_pub, &pos_ctrl_landing_status);
} else {
_pos_ctrl_landing_status_pub = orb_advertise(ORB_ID(position_controller_landing_status), &pos_ctrl_landing_status);
}
}
void
FixedwingPositionControl::abort_landing(bool abort)
{
// only announce changes
if (abort && !_land_abort) {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted");
}
_land_abort = abort;
landing_status_publish();
}
void
FixedwingPositionControl::get_waypoint_heading_distance(float heading, position_setpoint_s &waypoint_prev,
position_setpoint_s &waypoint_next, bool flag_init)
@ -677,7 +774,7 @@ bool
FixedwingPositionControl::in_takeoff_situation()
{
// in air for < 10s
const hrt_abstime delta_takeoff = 10000000;
const hrt_abstime delta_takeoff = 10_s;
return (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff)
&& (_global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff);
@ -864,10 +961,10 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
_att_sp.roll_body = constrain(_att_sp.roll_body, radians(-5.0f), radians(5.0f));
}
if (_fw_pos_ctrl_status.abort_landing) {
if (_land_abort) {
if (pos_sp_curr.alt - _global_pos.alt < _parameters.climbout_diff) {
// aborted landing complete, normal loiter over landing point
_fw_pos_ctrl_status.abort_landing = false;
abort_landing(false);
} else {
// continue straight until vehicle has sufficient altitude
@ -1344,9 +1441,8 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
// save time at which we started landing and reset abort_landing
if (_time_started_landing == 0) {
reset_landing_state();
_time_started_landing = hrt_absolute_time();
_fw_pos_ctrl_status.abort_landing = false;
}
const float bearing_airplane_currwp = get_bearing_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
@ -1437,16 +1533,16 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
// we have started landing phase but don't have valid terrain
// wait for some time, maybe we will soon get a valid estimate
// until then just use the altitude of the landing waypoint
if (hrt_elapsed_time(&_time_started_landing) < 10 * 1000 * 1000) {
if (hrt_elapsed_time(&_time_started_landing) < 10_s) {
terrain_alt = pos_sp_curr.alt;
} else {
// still no valid terrain, abort landing
terrain_alt = pos_sp_curr.alt;
_fw_pos_ctrl_status.abort_landing = true;
abort_landing(true);
}
} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT * 1000 * 1000)
} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT)
|| _land_noreturn_vertical) {
// use previous terrain estimate for some time and hope to recover
// if we are already flaring (land_noreturn_vertical) then just
@ -1456,7 +1552,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
} else {
// terrain alt was not valid for long time, abort landing
terrain_alt = _t_alt_prev_valid;
_fw_pos_ctrl_status.abort_landing = true;
abort_landing(true);
}
}
@ -1615,8 +1711,7 @@ FixedwingPositionControl::handle_command()
_pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
_fw_pos_ctrl_status.abort_landing = true;
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted");
abort_landing(true);
}
}
}
@ -1760,32 +1855,11 @@ FixedwingPositionControl::run()
/* advertise and publish */
_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
}
}
/* XXX check if radius makes sense here */
float turn_distance = _l1_control.switch_distance(500.0f);
/* lazily publish navigation capabilities */
if ((hrt_elapsed_time(&_fw_pos_ctrl_status.timestamp) > 1000000)
|| (fabsf(turn_distance - _fw_pos_ctrl_status.turn_distance) > FLT_EPSILON
&& turn_distance > 0)) {
/* set new turn distance */
_fw_pos_ctrl_status.turn_distance = turn_distance;
_fw_pos_ctrl_status.nav_roll = _l1_control.get_roll_setpoint();
_fw_pos_ctrl_status.nav_pitch = get_tecs_pitch();
_fw_pos_ctrl_status.nav_bearing = _l1_control.nav_bearing();
_fw_pos_ctrl_status.target_bearing = _l1_control.target_bearing();
_fw_pos_ctrl_status.xtrack_error = _l1_control.crosstrack_error();
Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
_fw_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
(double)curr_wp(0), (double)curr_wp(1));
fw_pos_ctrl_status_publish();
// only publish status in full FW mode
if (!_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
status_publish();
}
}
}
@ -1826,10 +1900,9 @@ FixedwingPositionControl::reset_landing_state()
_land_onslope = false;
// reset abort land, unless loitering after an abort
if (_fw_pos_ctrl_status.abort_landing
&& _pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER) {
if (_land_abort && (_pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER)) {
_fw_pos_ctrl_status.abort_landing = false;
abort_landing(false);
}
}
@ -1962,52 +2035,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
throttle_min, throttle_max, throttle_cruise,
pitch_min_rad, pitch_max_rad);
tecs_status_s t;
t.timestamp = _tecs.timestamp();
switch (_tecs.tecs_mode()) {
case TECS::ECL_TECS_MODE_NORMAL:
t.mode = tecs_status_s::TECS_MODE_NORMAL;
break;
case TECS::ECL_TECS_MODE_UNDERSPEED:
t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
break;
case TECS::ECL_TECS_MODE_BAD_DESCENT:
t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
break;
case TECS::ECL_TECS_MODE_CLIMBOUT:
t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
break;
}
t.altitude_sp = _tecs.hgt_setpoint_adj();
t.altitude_filtered = _tecs.vert_pos_state();
t.airspeed_sp = _tecs.TAS_setpoint_adj();
t.airspeed_filtered = _tecs.tas_state();
t.flight_path_angle_sp = _tecs.hgt_rate_setpoint();
t.flight_path_angle = _tecs.vert_vel_state();
t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
t.airspeed_derivative = _tecs.speed_derivative();
t.total_energy_error = _tecs.STE_error();
t.total_energy_rate_error = _tecs.STE_rate_error();
t.energy_distribution_error = _tecs.SEB_error();
t.energy_distribution_rate_error = _tecs.SEB_rate_error();
t.throttle_integ = _tecs.throttle_integ_state();
t.pitch_integ = _tecs.pitch_integ_state();
if (_tecs_status_pub != nullptr) {
orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
} else {
_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
}
tecs_status_publish();
}
FixedwingPositionControl *FixedwingPositionControl::instantiate(int argc, char *argv[])

62
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -55,22 +55,23 @@
#include <cfloat>
#include <drivers/drv_hrt.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <ecl/tecs/tecs.h>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <lib/ecl/l1/ecl_l1_pos_controller.h>
#include <lib/ecl/tecs/tecs.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <perf/perf_counter.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_landing_status.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_bias.h>
@ -86,23 +87,6 @@
#include <uORB/uORB.h>
#include <vtol_att_control/vtol_type.h>
static constexpr float HDG_HOLD_DIST_NEXT =
3000.0f; // initial distance of waypoint in front of plane in heading hold mode
static constexpr float HDG_HOLD_REACHED_DIST =
1000.0f; // distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
static constexpr float HDG_HOLD_SET_BACK_DIST = 100.0f; // distance by which previous waypoint is set behind the plane
static constexpr float HDG_HOLD_YAWRATE_THRESH = 0.15f; // max yawrate at which plane locks yaw for heading hold mode
static constexpr float HDG_HOLD_MAN_INPUT_THRESH =
0.01f; // max manual roll/yaw input from user which does not change the locked heading
static constexpr hrt_abstime T_ALT_TIMEOUT = 1; // time after which we abort landing if terrain estimate is not valid
static constexpr float THROTTLE_THRESH =
0.05f; ///< max throttle from user which will not lead to motors spinning up in altitude controlled modes
static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
using math::constrain;
using math::max;
using math::min;
@ -118,6 +102,24 @@ using uORB::Subscription;
using namespace launchdetection;
using namespace runwaytakeoff;
using namespace time_literals;
static constexpr float HDG_HOLD_DIST_NEXT =
3000.0f; // initial distance of waypoint in front of plane in heading hold mode
static constexpr float HDG_HOLD_REACHED_DIST =
1000.0f; // distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
static constexpr float HDG_HOLD_SET_BACK_DIST = 100.0f; // distance by which previous waypoint is set behind the plane
static constexpr float HDG_HOLD_YAWRATE_THRESH = 0.15f; // max yawrate at which plane locks yaw for heading hold mode
static constexpr float HDG_HOLD_MAN_INPUT_THRESH =
0.01f; // max manual roll/yaw input from user which does not change the locked heading
static constexpr hrt_abstime T_ALT_TIMEOUT = 1_s; // time after which we abort landing if terrain estimate is not valid
static constexpr float THROTTLE_THRESH =
0.05f; ///< max throttle from user which will not lead to motors spinning up in altitude controlled modes
static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams
{
@ -161,12 +163,12 @@ private:
int _sensor_baro_sub{-1};
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
orb_advert_t _pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
orb_advert_t _pos_ctrl_landing_status_pub{nullptr}; ///< landing status publication */
orb_advert_t _tecs_status_pub{nullptr}; ///< TECS status publication */
orb_advert_t _fw_pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
orb_id_t _attitude_setpoint_id{nullptr};
fw_pos_ctrl_status_s _fw_pos_ctrl_status {}; ///< navigation capabilities */
manual_control_setpoint_s _manual {}; ///< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */
vehicle_attitude_s _att {}; ///< vehicle attitude setpoint */
@ -202,6 +204,7 @@ private:
bool _land_stayonground{false};
bool _land_motor_lim{false};
bool _land_onslope{false};
bool _land_abort{false};
Landingslope _landingslope;
@ -367,9 +370,7 @@ private:
} _parameter_handles {}; ///< handles for interesting parameters */
/**
* Update our local parameter cache.
*/
// Update our local parameter cache.
int parameters_update();
// Update subscriptions
@ -383,8 +384,11 @@ private:
void vehicle_land_detected_poll();
void vehicle_status_poll();
// publish navigation capabilities
void fw_pos_ctrl_status_publish();
void status_publish();
void landing_status_publish();
void tecs_status_publish();
void abort_landing(bool abort);
/**
* Get a new waypoint based on heading and distance from current position

57
src/modules/gnd_pos_control/GroundRoverPositionControl.cpp
View File

@ -150,12 +150,6 @@ GroundRoverPositionControl::parameters_update()
_parameters.speed_imax,
_parameters.gndspeed_max);
/* Update and publish the navigation capabilities */
_gnd_pos_ctrl_status.landing_slope_angle_rad = 0;
_gnd_pos_ctrl_status.landing_horizontal_slope_displacement = 0;
_gnd_pos_ctrl_status.landing_flare_length = 0;
gnd_pos_ctrl_status_publish();
return OK;
}
@ -192,18 +186,6 @@ GroundRoverPositionControl::position_setpoint_triplet_poll()
}
}
void GroundRoverPositionControl::gnd_pos_ctrl_status_publish()
{
_gnd_pos_ctrl_status.timestamp = hrt_absolute_time();
if (_gnd_pos_ctrl_status_pub != nullptr) {
orb_publish(ORB_ID(fw_pos_ctrl_status), _gnd_pos_ctrl_status_pub, &_gnd_pos_ctrl_status);
} else {
_gnd_pos_ctrl_status_pub = orb_advertise(ORB_ID(fw_pos_ctrl_status), &_gnd_pos_ctrl_status);
}
}
bool
GroundRoverPositionControl::control_position(const matrix::Vector2f &current_position,
const matrix::Vector3f &ground_speed, const position_setpoint_triplet_s &pos_sp_triplet)
@ -440,31 +422,34 @@ GroundRoverPositionControl::task_main()
/* advertise and publish */
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
}
/* XXX check if radius makes sense here */
float turn_distance = _parameters.l1_distance; //_gnd_control.switch_distance(100.0f);
/* XXX check if radius makes sense here */
float turn_distance = _parameters.l1_distance; //_gnd_control.switch_distance(100.0f);
/* lazily publish navigation capabilities */
if ((hrt_elapsed_time(&_gnd_pos_ctrl_status.timestamp) > 1000000)
|| (fabsf(turn_distance - _gnd_pos_ctrl_status.turn_distance) > FLT_EPSILON
&& turn_distance > 0)) {
// publish status
position_controller_status_s pos_ctrl_status = {};
/* set new turn distance */
_gnd_pos_ctrl_status.turn_distance = turn_distance;
pos_ctrl_status.nav_roll = _gnd_control.get_roll_setpoint();
pos_ctrl_status.nav_pitch = 0.0f;
pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing();
_gnd_pos_ctrl_status.nav_roll = _gnd_control.get_roll_setpoint();
_gnd_pos_ctrl_status.nav_pitch = 0.0f;
_gnd_pos_ctrl_status.nav_bearing = _gnd_control.nav_bearing();
pos_ctrl_status.target_bearing = _gnd_control.target_bearing();
pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error();
_gnd_pos_ctrl_status.target_bearing = _gnd_control.target_bearing();
_gnd_pos_ctrl_status.xtrack_error = _gnd_control.crosstrack_error();
pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
matrix::Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
_gnd_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)current_position(0), (double)current_position(1),
(double)curr_wp(0), (double)curr_wp(1));
pos_ctrl_status.acceptance_radius = turn_distance;
pos_ctrl_status.yaw_acceptance = NAN;
gnd_pos_ctrl_status_publish();
pos_ctrl_status.timestamp = hrt_absolute_time();
if (_pos_ctrl_status_pub != nullptr) {
orb_publish(ORB_ID(position_controller_status), _pos_ctrl_status_pub, &pos_ctrl_status);
} else {
_pos_ctrl_status_pub = orb_advertise(ORB_ID(position_controller_status), &pos_ctrl_status);
}
}
}

27
src/modules/gnd_pos_control/GroundRoverPositionControl.hpp
View File

@ -41,23 +41,22 @@
* @author Marco Zorzi <mzorzi@student.ethz.ch>
*/
#include <cfloat>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <lib/ecl/l1/ecl_l1_pos_controller.h>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <lib/pid/pid.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <cfloat>
#include <drivers/drv_hrt.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <perf/perf_counter.h>
#include <pid/pid.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/vehicle_attitude.h>
@ -94,7 +93,7 @@ public:
private:
orb_advert_t _attitude_sp_pub{nullptr}; /**< attitude setpoint */
orb_advert_t _gnd_pos_ctrl_status_pub{nullptr}; /**< navigation capabilities publication */
orb_advert_t _pos_ctrl_status_pub{nullptr}; /**< navigation capabilities publication */
bool _task_should_exit{false}; /**< if true, sensor task should exit */
bool _task_running{false}; /**< if true, task is running in its mainloop */
@ -105,7 +104,6 @@ private:
int _params_sub{-1}; /**< notification of parameter updates */
int _pos_sp_triplet_sub{-1};
fw_pos_ctrl_status_s _gnd_pos_ctrl_status{}; /**< navigation capabilities */
manual_control_setpoint_s _manual{}; /**< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of mission items */
vehicle_attitude_setpoint_s _att_sp{}; /**< vehicle attitude setpoint */
@ -188,11 +186,6 @@ private:
void position_setpoint_triplet_poll();
void vehicle_control_mode_poll();
/**
* Publish navigation capabilities
*/
void gnd_pos_ctrl_status_publish();
/**
* Control position.
*/

3
src/modules/logger/logger.cpp
View File

@ -655,10 +655,11 @@ void Logger::add_default_topics()
add_topic("actuator_controls_virtual_fw");
add_topic("actuator_controls_virtual_mc");
add_topic("commander_state");
add_topic("fw_pos_ctrl_status");
add_topic("fw_virtual_attitude_setpoint");
add_topic("mc_virtual_attitude_setpoint");
add_topic("multirotor_motor_limits");
add_topic("position_controller_status");
add_topic("position_controller_landingstatus");
add_topic("offboard_control_mode");
add_topic("time_offset");
add_topic("vehicle_attitude_groundtruth", 10);

21
src/modules/mavlink/mavlink_high_latency2.cpp
View File

@ -39,17 +39,16 @@
#include "mavlink_high_latency2.h"
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <lib/ecl/geo/geo.h>
#include <commander/px4_custom_mode.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/matrix/matrix/math.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/tecs_status.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
@ -75,8 +74,8 @@ MavlinkStreamHighLatency2::MavlinkStreamHighLatency2(Mavlink *mavlink) : Mavlink
_battery_time(0),
_estimator_status_sub(_mavlink->add_orb_subscription(ORB_ID(estimator_status))),
_estimator_status_time(0),
_fw_pos_ctrl_status_sub(_mavlink->add_orb_subscription(ORB_ID(fw_pos_ctrl_status))),
_fw_pos_ctrl_status_time(0),
_pos_ctrl_status_sub(_mavlink->add_orb_subscription(ORB_ID(position_controller_status))),
_pos_ctrl_status_time(0),
_geofence_sub(_mavlink->add_orb_subscription(ORB_ID(geofence_result))),
_geofence_time(0),
_global_pos_sub(_mavlink->add_orb_subscription(ORB_ID(vehicle_global_position))),
@ -283,13 +282,13 @@ bool MavlinkStreamHighLatency2::write_estimator_status(mavlink_high_latency2_t *
bool MavlinkStreamHighLatency2::write_fw_ctrl_status(mavlink_high_latency2_t *msg)
{
struct fw_pos_ctrl_status_s fw_pos_ctrl_status;
position_controller_status_s pos_ctrl_status = {};
const bool updated = _fw_pos_ctrl_status_sub->update(&_fw_pos_ctrl_status_time, &fw_pos_ctrl_status);
const bool updated = _pos_ctrl_status_sub->update(&_pos_ctrl_status_time, &pos_ctrl_status);
if (_fw_pos_ctrl_status_time > 0) {
if (_pos_ctrl_status_time > 0) {
uint16_t target_distance;
convert_limit_safe(fw_pos_ctrl_status.wp_dist * 0.1f, target_distance);
convert_limit_safe(pos_ctrl_status.wp_dist * 0.1f, target_distance);
msg->target_distance = target_distance;
}

4
src/modules/mavlink/mavlink_high_latency2.h
View File

@ -101,8 +101,8 @@ private:
MavlinkOrbSubscription *_estimator_status_sub;
uint64_t _estimator_status_time;
MavlinkOrbSubscription *_fw_pos_ctrl_status_sub;
uint64_t _fw_pos_ctrl_status_time;
MavlinkOrbSubscription *_pos_ctrl_status_sub;
uint64_t _pos_ctrl_status_time;
MavlinkOrbSubscription *_geofence_sub;
uint64_t _geofence_time;

38
src/modules/mavlink/mavlink_messages.cpp
View File

@ -49,8 +49,8 @@
#include <drivers/drv_pwm_output.h>
#include <drivers/drv_rc_input.h>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/matrix/matrix/math.hpp>
#include <px4_time.h>
#include <systemlib/mavlink_log.h>
@ -69,13 +69,13 @@
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/mavlink_log.h>
#include <uORB/topics/vehicle_trajectory_waypoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/sensor_bias.h>
@ -3743,15 +3743,15 @@ public:
unsigned get_size()
{
return (_fw_pos_ctrl_status_sub->is_published()) ?
return (_pos_ctrl_status_sub->is_published()) ?
MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES : 0;
}
private:
MavlinkOrbSubscription *_fw_pos_ctrl_status_sub;
MavlinkOrbSubscription *_pos_ctrl_status_sub;
MavlinkOrbSubscription *_tecs_status_sub;
uint64_t _fw_pos_ctrl_status_timestamp{0};
uint64_t _pos_ctrl_status_timestamp{0};
uint64_t _tecs_status_timestamp{0};
/* do not allow top copying this class */
@ -3760,30 +3760,30 @@ private:
protected:
explicit MavlinkStreamNavControllerOutput(Mavlink *mavlink) : MavlinkStream(mavlink),
_fw_pos_ctrl_status_sub(_mavlink->add_orb_subscription(ORB_ID(fw_pos_ctrl_status))),
_pos_ctrl_status_sub(_mavlink->add_orb_subscription(ORB_ID(position_controller_status))),
_tecs_status_sub(_mavlink->add_orb_subscription(ORB_ID(tecs_status)))
{}
bool send(const hrt_abstime t)
{
fw_pos_ctrl_status_s _fw_pos_ctrl_status = {};
tecs_status_s _tecs_status = {};
position_controller_status_s pos_ctrl_status = {};
tecs_status_s tecs_status = {};
bool updated = false;
updated |= _fw_pos_ctrl_status_sub->update(&_fw_pos_ctrl_status_timestamp, &_fw_pos_ctrl_status);
updated |= _tecs_status_sub->update(&_tecs_status_timestamp, &_tecs_status);
updated |= _pos_ctrl_status_sub->update(&_pos_ctrl_status_timestamp, &pos_ctrl_status);
updated |= _tecs_status_sub->update(&_tecs_status_timestamp, &tecs_status);
if (updated) {
mavlink_nav_controller_output_t msg = {};
msg.nav_roll = math::degrees(_fw_pos_ctrl_status.nav_roll);
msg.nav_pitch = math::degrees(_fw_pos_ctrl_status.nav_pitch);
msg.nav_bearing = (int16_t)math::degrees(_fw_pos_ctrl_status.nav_bearing);
msg.target_bearing = (int16_t)math::degrees(_fw_pos_ctrl_status.target_bearing);
msg.wp_dist = (uint16_t)_fw_pos_ctrl_status.wp_dist;
msg.xtrack_error = _fw_pos_ctrl_status.xtrack_error;
msg.alt_error = _tecs_status.altitude_filtered - _tecs_status.altitude_sp;
msg.aspd_error = _tecs_status.airspeed_filtered - _tecs_status.airspeed_sp;
msg.nav_roll = math::degrees(pos_ctrl_status.nav_roll);
msg.nav_pitch = math::degrees(pos_ctrl_status.nav_pitch);
msg.nav_bearing = (int16_t)math::degrees(pos_ctrl_status.nav_bearing);
msg.target_bearing = (int16_t)math::degrees(pos_ctrl_status.target_bearing);
msg.wp_dist = (uint16_t)pos_ctrl_status.wp_dist;
msg.xtrack_error = pos_ctrl_status.xtrack_error;
msg.alt_error = tecs_status.altitude_filtered - tecs_status.altitude_sp;
msg.aspd_error = tecs_status.airspeed_filtered - tecs_status.airspeed_sp;
mavlink_msg_nav_controller_output_send_struct(_mavlink->get_channel(), &msg);

15
src/modules/navigator/mission_feasibility_checker.cpp
View File

@ -47,8 +47,10 @@
#include <drivers/drv_pwm_output.h>
#include <fw_pos_control_l1/Landingslope.hpp>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <lib/mathlib/mathlib.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/position_controller_landing_status.h>
bool
MissionFeasibilityChecker::checkMissionFeasible(const mission_s &mission,
@ -395,19 +397,22 @@ MissionFeasibilityChecker::checkFixedWingLanding(const mission_s &mission, bool
if (MissionBlock::item_contains_position(missionitem_previous)) {
const bool fw_status_valid = (_navigator->get_fw_pos_ctrl_status()->timestamp > 0);
uORB::Subscription<position_controller_landing_status_s> landing_status{ORB_ID(position_controller_landing_status)};
landing_status.forcedUpdate();
const bool landing_status_valid = (landing_status.get().timestamp > 0);
const float wp_distance = get_distance_to_next_waypoint(missionitem_previous.lat, missionitem_previous.lon,
missionitem.lat, missionitem.lon);
if (fw_status_valid && (wp_distance > _navigator->get_fw_pos_ctrl_status()->landing_flare_length)) {
if (landing_status_valid && (wp_distance > landing_status.get().flare_length)) {
/* Last wp is before flare region */
const float delta_altitude = missionitem.altitude - missionitem_previous.altitude;
if (delta_altitude < 0) {
const float horizontal_slope_displacement = _navigator->get_fw_pos_ctrl_status()->landing_horizontal_slope_displacement;
const float slope_angle_rad = _navigator->get_fw_pos_ctrl_status()->landing_slope_angle_rad;
const float horizontal_slope_displacement = landing_status.get().horizontal_slope_displacement;
const float slope_angle_rad = landing_status.get().slope_angle_rad;
const float slope_alt_req = Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, missionitem.altitude,
horizontal_slope_displacement, slope_angle_rad);

1
src/modules/navigator/mission_feasibility_checker.h
View File

@ -43,7 +43,6 @@
#include <dataman/dataman.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
class Geofence;
class Navigator;

21
src/modules/navigator/navigator.h
View File

@ -55,15 +55,17 @@
#include "rtl.h"
#include "takeoff.h"
#include <navigator/navigation.h>
#include <px4_module_params.h>
#include "navigation.h"
#include <lib/perf/perf_counter.h>
#include <px4_module.h>
#include <perf/perf_counter.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <px4_module_params.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/geofence_result.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/position_controller_status.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_command.h>
@ -145,7 +147,6 @@ public:
/**
* Getters
*/
struct fw_pos_ctrl_status_s *get_fw_pos_ctrl_status() { return &_fw_pos_ctrl_status; }
struct home_position_s *get_home_position() { return &_home_pos; }
struct mission_result_s *get_mission_result() { return &_mission_result; }
struct position_setpoint_triplet_s *get_position_setpoint_triplet() { return &_pos_sp_triplet; }
@ -278,7 +279,6 @@ public:
bool force_vtol();
private:
int _fw_pos_ctrl_status_sub{-1}; /**< notification of vehicle capabilities updates */
int _global_pos_sub{-1}; /**< global position subscription */
int _gps_pos_sub{-1}; /**< gps position subscription */
int _home_pos_sub{-1}; /**< home position subscription */
@ -286,6 +286,7 @@ private:
int _local_pos_sub{-1}; /**< local position subscription */
int _offboard_mission_sub{-1}; /**< offboard mission subscription */
int _param_update_sub{-1}; /**< param update subscription */
int _pos_ctrl_landing_status_sub{-1}; /**< position controller landing status subscription */
int _traffic_sub{-1}; /**< traffic subscription */
int _vehicle_command_sub{-1}; /**< vehicle commands (onboard and offboard) */
int _vstatus_sub{-1}; /**< vehicle status subscription */
@ -299,7 +300,6 @@ private:
orb_advert_t _vehicle_roi_pub{nullptr};
// Subscriptions
fw_pos_ctrl_status_s _fw_pos_ctrl_status{}; /**< fixed wing navigation capabilities */
home_position_s _home_pos{}; /**< home position for RTL */
mission_result_s _mission_result{};
vehicle_global_position_s _global_pos{}; /**< global vehicle position */
@ -307,7 +307,11 @@ private:
vehicle_land_detected_s _land_detected{}; /**< vehicle land_detected */
vehicle_local_position_s _local_pos{}; /**< local vehicle position */
vehicle_status_s _vstatus{}; /**< vehicle status */
uint8_t _previous_nav_state{}; /**< nav_state of the previous iteration*/
uORB::Subscription<position_controller_status_s> _position_controller_status_sub{ORB_ID(position_controller_status)};
uint8_t _previous_nav_state{}; /**< nav_state of the previous iteration*/
// Publications
geofence_result_s _geofence_result{};
position_setpoint_triplet_s _pos_sp_triplet{}; /**< triplet of position setpoints */
@ -369,7 +373,6 @@ private:
float _mission_throttle{-1.0f};
// update subscriptions
void fw_pos_ctrl_status_update(bool force = false);
void global_position_update();
void gps_position_update();
void home_position_update(bool force = false);

71
src/modules/navigator/navigator_main.cpp
View File

@ -46,26 +46,24 @@
#include "navigator.h"
#include <cfloat>
#include <sys/ioctl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <dataman/dataman.h>
#include <drivers/drv_hrt.h>
#include <lib/ecl/geo/geo.h>
#include <mathlib/mathlib.h>
#include <lib/mathlib/mathlib.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_posix.h>
#include <px4_tasks.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/fw_pos_ctrl_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/position_controller_landing_status.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/uORB.h>
/**
@ -77,6 +75,8 @@ extern "C" __EXPORT int navigator_main(int argc, char *argv[]);
#define GEOFENCE_CHECK_INTERVAL 200000
using namespace time_literals;
namespace navigator
{
Navigator *g_navigator;
@ -141,17 +141,6 @@ Navigator::home_position_update(bool force)
}
}
void
Navigator::fw_pos_ctrl_status_update(bool force)
{
bool updated = false;
orb_check(_fw_pos_ctrl_status_sub, &updated);
if (updated || force) {
orb_copy(ORB_ID(fw_pos_ctrl_status), _fw_pos_ctrl_status_sub, &_fw_pos_ctrl_status);
}
}
void
Navigator::vehicle_status_update()
{
@ -193,7 +182,7 @@ Navigator::run()
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
_local_pos_sub = orb_subscribe(ORB_ID(vehicle_local_position));
_gps_pos_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
_fw_pos_ctrl_status_sub = orb_subscribe(ORB_ID(fw_pos_ctrl_status));
_pos_ctrl_landing_status_sub = orb_subscribe(ORB_ID(position_controller_landing_status));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
_home_pos_sub = orb_subscribe(ORB_ID(home_position));
@ -209,7 +198,6 @@ Navigator::run()
local_position_update();
gps_position_update();
home_position_update(true);
fw_pos_ctrl_status_update(true);
params_update();
/* wakeup source(s) */
@ -293,11 +281,7 @@ Navigator::run()
}
/* navigation capabilities updated */
orb_check(_fw_pos_ctrl_status_sub, &updated);
if (updated) {
fw_pos_ctrl_status_update();
}
_position_controller_status_sub.update();
/* home position updated */
orb_check(_home_pos_sub, &updated);
@ -762,14 +746,11 @@ Navigator::run()
}
if (_pos_sp_triplet_updated) {
_pos_sp_triplet.timestamp = hrt_absolute_time();
publish_position_setpoint_triplet();
_pos_sp_triplet_updated = false;
}
if (_mission_result_updated) {
publish_mission_result();
_mission_result_updated = false;
}
perf_end(_loop_perf);
@ -778,7 +759,7 @@ Navigator::run()
orb_unsubscribe(_global_pos_sub);
orb_unsubscribe(_local_pos_sub);
orb_unsubscribe(_gps_pos_sub);
orb_unsubscribe(_fw_pos_ctrl_status_sub);
orb_unsubscribe(_pos_ctrl_landing_status_sub);
orb_unsubscribe(_vstatus_sub);
orb_unsubscribe(_land_detected_sub);
orb_unsubscribe(_home_pos_sub);
@ -827,11 +808,13 @@ Navigator::print_status()
void
Navigator::publish_position_setpoint_triplet()
{
/* do not publish an empty triplet */
// do not publish an invalid setpoint
if (!_pos_sp_triplet.current.valid) {
return;
}
_pos_sp_triplet.timestamp = hrt_absolute_time();
/* lazily publish the position setpoint triplet only once available */
if (_pos_sp_triplet_pub != nullptr) {
orb_publish(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_pub, &_pos_sp_triplet);
@ -839,6 +822,8 @@ Navigator::publish_position_setpoint_triplet()
} else {
_pos_sp_triplet_pub = orb_advertise(ORB_ID(position_setpoint_triplet), &_pos_sp_triplet);
}
_pos_sp_triplet_updated = false;
}
float
@ -949,10 +934,11 @@ Navigator::get_acceptance_radius(float mission_item_radius)
// when in fixed wing mode
// this might need locking against a commanded transition
// so that a stale _vstatus doesn't trigger an accepted mission item.
if (!_vstatus.is_rotary_wing && !_vstatus.in_transition_mode) {
if ((hrt_elapsed_time(&_fw_pos_ctrl_status.timestamp) < 5000000) && (_fw_pos_ctrl_status.turn_distance > radius)) {
radius = _fw_pos_ctrl_status.turn_distance;
}
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) && pos_ctrl_status.acceptance_radius > radius) {
radius = pos_ctrl_status.acceptance_radius;
}
return radius;
@ -1114,15 +1100,24 @@ void Navigator::check_traffic()
bool
Navigator::abort_landing()
{
// only abort if currently landing and position controller status updated
bool should_abort = false;
if (!_vstatus.is_rotary_wing && !_vstatus.in_transition_mode) {
if (hrt_elapsed_time(&_fw_pos_ctrl_status.timestamp) < 1000000) {
if (_pos_sp_triplet.current.valid
&& _pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if (get_position_setpoint_triplet()->current.valid
&& get_position_setpoint_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
bool updated = false;
should_abort = _fw_pos_ctrl_status.abort_landing;
orb_check(_pos_ctrl_landing_status_sub, &updated);
if (updated) {
position_controller_landing_status_s landing_status = {};
// landing status from position controller must be newer than navigator's last position setpoint
if (orb_copy(ORB_ID(position_controller_landing_status), _pos_ctrl_landing_status_sub, &landing_status) == PX4_OK) {
if (landing_status.timestamp > _pos_sp_triplet.timestamp) {
should_abort = landing_status.abort_landing;
}
}
}
}
@ -1214,6 +1209,8 @@ Navigator::publish_mission_result()
_mission_result.item_do_jump_changed = false;
_mission_result.item_changed_index = 0;
_mission_result.item_do_jump_remaining = 0;
_mission_result_updated = false;
}
void