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px4-firmware
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mavlink output instead of printf

This commit is contained in:
Thomas Gubler 2013-11-06 23:20:04 +01:00
parent 9894751442
commit 7f793d9753
1 changed files with 30 additions and 7 deletions
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37
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -83,6 +83,7 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include <mavlink/mavlink_log.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
@ -94,6 +95,8 @@
*/
extern "C" __EXPORT int fw_pos_control_l1_main(int argc, char *argv[]);
static int mavlink_fd;
class FixedwingPositionControl
{
public:
@ -164,6 +167,8 @@ private:
bool land_noreturn_vertical;
bool land_stayonground;
bool land_motor_lim;
bool land_onslope;
float flare_curve_alt_last;
/* heading hold */
float target_bearing;
@ -369,8 +374,12 @@ FixedwingPositionControl::FixedwingPositionControl() :
land_noreturn_vertical(false),
land_stayonground(false),
land_motor_lim(false),
land_onslope(false),
flare_curve_alt_last(0.0f)
{
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
_nav_capabilities.turn_distance = 0.0f;
_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
@ -854,7 +863,11 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
if (wp_distance < motor_lim_horizontal_distance || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
land_motor_lim = true;
if (!land_motor_lim) {
land_motor_lim = true;
mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, limit throttle");
}
}
float flare_curve_alt = _global_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1;
@ -874,9 +887,11 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
land_noreturn_vertical = true;
warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
if (!land_noreturn_vertical) {
mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, flare");
land_noreturn_vertical = true;
}
//warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance);
flare_curve_alt_last = flare_curve_alt;
@ -888,7 +903,14 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
false, flare_angle_rad,
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
warnx("Landing: stay on slope, alt_desired: %.1f (wp_distance: %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f, d1 %.1f, flare_length %.1f", landing_slope_alt_desired, wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement, d1, flare_length);
//warnx("Landing: stay on slope, alt_desired: %.1f (wp_distance: %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f, d1 %.1f, flare_length %.1f", landing_slope_alt_desired, wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement, d1, flare_length);
if (!land_onslope) {
mavlink_log_info(mavlink_fd, "[POSCTRL] Landing, on slope");
land_onslope = true;
}
} else {
/* intersect glide slope:
@ -899,11 +921,11 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
/* stay on slope */
altitude_desired = landing_slope_alt_desired;
warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement);
//warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement);
} else {
/* continue horizontally */
altitude_desired = math::max(_global_pos.alt, L_altitude);
warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance);
//warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance);
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),
@ -1004,6 +1026,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
land_noreturn_vertical = false;
land_stayonground = false;
land_motor_lim = false;
land_onslope = false;
}
if (was_circle_mode && !_l1_control.circle_mode()) {