dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Almost perfect landing approach, needs touch-down fine tuning

This commit is contained in:
Lorenz Meier 2013-10-17 09:36:20 +02:00
parent 013579cffd
commit 95aba0d70e
2 changed files with 62 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

47
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
View File

@ -635,6 +635,9 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* no throttle limit as default */
float throttle_max = 1.0f;
/* not in non-abort mode for landing yet */
bool land_noreturn = false;
/* AUTONOMOUS FLIGHT */
// XXX this should only execute if auto AND safety off (actuators active),
@ -717,23 +720,39 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
} else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) {
_l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), next_wp.getX(), next_wp.getY());
if (wp_distance < 5.0f || land_noreturn) {
/* heading hold, along the line connecting this and the last waypoint */
float target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
_l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
if (altitude_error > -20.0f)
land_noreturn = true;
} else {
/* normal navigation */
_l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
}
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
// XXX this could make a great param
if (altitude_error > -10.0f) {
float flare_angle_rad = math::radians(10.0f);//math::radians(global_triplet.current.param1)
float land_pitch_min = math::radians(5.0f);
float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
float airspeed_land = (_parameters.airspeed_min + _parameters.airspeed_trim) / 2.0f;
float flare_angle_rad = math::radians(10.0f);//math::radians(global_triplet.current.param1)
float land_pitch_min = math::radians(5.0f);
float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
if (altitude_error > -5.0f) {
// /* set the speed weight to 0.0 to push the system to control altitude with pitch */
// _tecs.set_speed_weight(0.0f);
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, _parameters.airspeed_min,
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
_airspeed.indicated_airspeed_m_s, eas2tas,
false, flare_angle_rad,
0.0f, _parameters.throttle_max, throttle_land,
@ -743,7 +762,15 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-20.0f), math::radians(20.0f));
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
} else if (altitude_error > -20.0f) {
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_land),
_airspeed.indicated_airspeed_m_s, eas2tas,
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));
} else {

37
src/modules/mavlink/waypoints.c
View File

@ -399,6 +399,13 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
if (time_elapsed) {
if (cur_wp->autocontinue) {
/* safeguard against invalid missions with last wp autocontinue on */
if (wpm->current_active_wp_id == wpm->size - 1) {
/* stop handling missions here */
cur_wp->autocontinue = false;
}
cur_wp->current = 0;
float navigation_lat = -1.0f;
@ -419,13 +426,16 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
navigation_frame = MAV_FRAME_LOCAL_NED;
}
/* guard against missions without final land waypoint */
/* only accept supported navigation waypoints, skip unknown ones */
do {
/* pick up the last valid navigation waypoint, this will be one we hold on to after the mission */
if (wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_WAYPOINT ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TURNS ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_TIME ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM) {
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_LOITER_UNLIM ||
wpm->waypoints[wpm->current_active_wp_id].command == (int)MAV_CMD_NAV_TAKEOFF) {
/* this is a navigation waypoint */
navigation_frame = cur_wp->frame;
@ -434,17 +444,20 @@ void check_waypoints_reached(uint64_t now, const struct vehicle_global_position_
navigation_alt = cur_wp->z;
}
if (wpm->current_active_wp_id == wpm->size - 1 && wpm->size > 1) {
/* the last waypoint was reached, if auto continue is
* activated keep the system loitering there.
*/
cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM;
cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius
cur_wp->frame = navigation_frame;
cur_wp->x = navigation_lat;
cur_wp->y = navigation_lon;
cur_wp->z = navigation_alt;
cur_wp->autocontinue = false;
if (wpm->current_active_wp_id == wpm->size - 1) {
/* if we're not landing at the last nav waypoint, we're falling back to loiter */
if (wpm->waypoints[wpm->current_active_wp_id].command != (int)MAV_CMD_NAV_LAND) {
/* the last waypoint was reached, if auto continue is
* activated AND it is NOT a land waypoint, keep the system loitering there.
*/
cur_wp->command = MAV_CMD_NAV_LOITER_UNLIM;
cur_wp->param3 = 20.0f; // XXX magic number 20 m loiter radius
cur_wp->frame = navigation_frame;
cur_wp->x = navigation_lat;
cur_wp->y = navigation_lon;
cur_wp->z = navigation_alt;
}
/* we risk an endless loop for missions without navigation waypoints, abort. */
break;