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Merge pull request #12 from swissfang/bottledrop 

Drop at the exact timing, drop only if facing into the right direction
This commit is contained in:
Julian Oes 2014-09-20 19:07:34 +10:00
parent a7e1ba9a00 8296a14e9b
commit 6aee0baa30
2 changed files with 24 additions and 12 deletions
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30
src/modules/bottle_drop/bottle_drop.cpp
View File

@ -384,6 +384,7 @@ BottleDrop::task_main()
float x_f, y_f; // to-be position of the UAV after dt_runs seconds in projected coordinates float x_f, y_f; // to-be position of the UAV after dt_runs seconds in projected coordinates
double x_f_NED, y_f_NED; // to-be position of the UAV after dt_runs seconds in NED double x_f_NED, y_f_NED; // to-be position of the UAV after dt_runs seconds in NED
float distance_open_door; // The distance the UAV travels during its doors open [m] float distance_open_door; // The distance the UAV travels during its doors open [m]
float approach_error = 0.0f; // The error in radians between current ground vector and desired ground vector
float distance_real = 0; // The distance between the UAVs position and the drop point [m] float distance_real = 0; // The distance between the UAVs position and the drop point [m]
float future_distance = 0; // The distance between the UAVs to-be position and the drop point [m] float future_distance = 0; // The distance between the UAVs to-be position and the drop point [m]
@ -505,11 +506,21 @@ BottleDrop::task_main()
float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east); float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east);
float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e); float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e);
distance_real = fabsf(get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, _drop_position.lat, _drop_position.lon));
ground_distance = _global_pos.alt - _target_position.alt; ground_distance = _global_pos.alt - _target_position.alt;
if (counter % 90 == 0) { // Distance to drop position and angle error to approach vector
mavlink_log_info(_mavlink_fd, "#audio: drop distance %.2f", (double)distance_real); // are relevant in all states greater than target valid (which calculates these positions)
if (_drop_state > DROP_STATE_TARGET_VALID) {
distance_real = fabsf(get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, _drop_position.lat, _drop_position.lon));
float ground_direction = atan2f(_global_pos.vel_e, _global_pos.vel_n);
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
approach_error = _wrap_pi(ground_direction - approach_direction);
if (counter % 90 == 0) {
mavlink_log_critical(_mavlink_fd, "drop distance %u, heading error %u", (unsigned)distance_real, (unsigned)math::degrees(approach_error));
}
} }
switch (_drop_state) { switch (_drop_state) {
@ -608,6 +619,9 @@ BottleDrop::task_main()
_onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission); _onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission);
} }
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
mavlink_log_critical(_mavlink_fd, "position set, approach heading: %u", (unsigned)distance_real, (unsigned)math::degrees(approach_direction + M_PI_F));
_drop_state = DROP_STATE_TARGET_SET; _drop_state = DROP_STATE_TARGET_SET;
} }
break; break;
@ -622,9 +636,10 @@ BottleDrop::task_main()
} else { } else {
// We're close enough - open the bay // We're close enough - open the bay
distance_open_door = math::max(5.0f, 3.0f * fabsf(t_door * groundspeed_body)); distance_open_door = math::max(10.0f, 3.0f * fabsf(t_door * groundspeed_body));
if (isfinite(distance_real) && distance_real < distance_open_door) { if (isfinite(distance_real) && distance_real < distance_open_door &&
fabsf(approach_error) < math::radians(20.0f)) {
open_bay(); open_bay();
_drop_state = DROP_STATE_BAY_OPEN; _drop_state = DROP_STATE_BAY_OPEN;
mavlink_log_info(_mavlink_fd, "#audio: opening bay"); mavlink_log_info(_mavlink_fd, "#audio: opening bay");
@ -642,11 +657,8 @@ BottleDrop::task_main()
map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED); map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED);
future_distance = get_distance_to_next_waypoint(x_f_NED, y_f_NED, _drop_position.lat, _drop_position.lon); future_distance = get_distance_to_next_waypoint(x_f_NED, y_f_NED, _drop_position.lat, _drop_position.lon);
warnx("Distance real: %.2f", (double)distance_real);
if (isfinite(distance_real) && if (isfinite(distance_real) &&
(distance_real < precision) && ((distance_real < future_distance) || (distance_real < precision) && ((distance_real < future_distance))) {
(distance_real < precision / 10.0f))) {
drop(); drop();
_drop_state = DROP_STATE_DROPPED; _drop_state = DROP_STATE_DROPPED;
mavlink_log_info(_mavlink_fd, "#audio: payload dropped"); mavlink_log_info(_mavlink_fd, "#audio: payload dropped");

6
src/modules/bottle_drop/bottle_drop_params.c
View File

@ -92,11 +92,11 @@ PARAM_DEFINE_FLOAT(BD_PRECISION, 30.0f);
* http://en.wikipedia.org/wiki/Drag_coefficient * http://en.wikipedia.org/wiki/Drag_coefficient
* *
* @unit meter * @unit meter
* @min 1.0 * @min 0.08
* @max 80.0 * @max 1.5
* @group Payload drop * @group Payload drop
*/ */
PARAM_DEFINE_FLOAT(BD_OBJ_CD, 0.86f); PARAM_DEFINE_FLOAT(BD_OBJ_CD, 0.1f);
/** /**
* Payload mass * Payload mass