forked from Archive/PX4-Autopilot
Fixed-wing Position controller: add modes for auto altitude and auto descend
- bit of clean up - add GPS failsafe mode auto_altitude, that will keep current altitude with a fixed-bank angle for some time, then switches to auto_descend that will descend with constant sink rate of 0.5m/s - params controlling GPS failsafe are not FW params: NAV_GPSF_R --> FW_GPSF_R and NAV_GPSF_LT --> FW_GPSF_LT Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
Roman Bapst
parent
c73a1b4c68
commit
b77487d69c
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@ -195,6 +195,20 @@ bool param_modify_on_import(bson_node_t node)
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}
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}
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// 2021-10-21: translate NAV_GPSF_LT to FW_GPSF_LT and NAV_GPSF_R to FW_GPSF_R
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{
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if (strcmp("NAV_GPSF_LT", node->name) == 0) {
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strcpy(node->name, "FW_GPSF_LT");
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PX4_INFO("copying %s -> %s", "NAV_GPSF_LT", "FW_GPSF_LT");
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}
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if (strcmp("NAV_GPSF_R", node->name) == 0) {
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strcpy(node->name, "FW_GPSF_R");
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PX4_INFO("copying and inverting sign %s -> %s", "NAV_GPSF_R", "FW_GPSF_R");
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}
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}
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// translate (SPI) calibration ID parameters. This can be removed after the next release (current release=1.10)
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if (node->type != BSON_INT32) {
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@ -236,7 +236,6 @@ FixedwingPositionControl::vehicle_command_poll()
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abort_landing(true);
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}
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}
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}
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}
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@ -493,7 +492,7 @@ FixedwingPositionControl::status_publish()
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pos_ctrl_status.timestamp = hrt_absolute_time();
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pos_ctrl_status.type = _type;
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pos_ctrl_status.type = _position_sp_type;
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_pos_ctrl_status_pub.publish(pos_ctrl_status);
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}
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@ -671,7 +670,7 @@ FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitch_lim
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}
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void
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FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid)
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FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool pos_sp_curr_valid)
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{
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/* only run position controller in fixed-wing mode and during transitions for VTOL */
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if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.in_transition_mode) {
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@ -679,11 +678,41 @@ FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid)
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return; // do not publish the setpoint
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}
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if ((_control_mode.flag_control_auto_enabled || _control_mode.flag_control_offboard_enabled) && pos_sp_curr_valid) {
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if (((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) ||
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_control_mode.flag_control_offboard_enabled) && pos_sp_curr_valid) {
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_control_mode_current = FW_POSCTRL_MODE_AUTO;
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} else if (_control_mode.flag_control_velocity_enabled && _control_mode.flag_control_altitude_enabled) {
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if (_control_mode_current != FW_POSCTRL_MODE_POSITION) {
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} else if (_control_mode.flag_control_auto_enabled && _control_mode.flag_control_climb_rate_enabled) {
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// reset timer the first time we switch into this mode
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if (_control_mode_current != FW_POSCTRL_MODE_AUTO_ALTITUDE && _control_mode_current != FW_POSCTRL_MODE_AUTO_CLIMBRATE) {
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_time_in_fixed_bank_loiter = now;
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}
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if (hrt_elapsed_time(&_time_in_fixed_bank_loiter) < (_param_nav_gpsf_lt.get() * 1_s)
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&& !_vehicle_status.in_transition_mode) {
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if (_control_mode_current != FW_POSCTRL_MODE_AUTO_ALTITUDE) {
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// Need to init because last loop iteration was in a different mode
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_hold_alt = _current_altitude;
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mavlink_log_critical(&_mavlink_log_pub, "Start loiter with fixed bank angle.\t");
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events::send(events::ID("fixedwing_position_control_fb_loiter"), events::Log::Critical,
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"Start loiter with fixed bank angle");
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}
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_control_mode_current = FW_POSCTRL_MODE_AUTO_ALTITUDE;
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} else {
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if (_control_mode_current != FW_POSCTRL_MODE_AUTO_CLIMBRATE && !_vehicle_status.in_transition_mode) {
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mavlink_log_critical(&_mavlink_log_pub, "Start descending.\t");
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events::send(events::ID("fixedwing_position_control_descend"), events::Log::Critical, "Start descending");
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}
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_control_mode_current = FW_POSCTRL_MODE_AUTO_CLIMBRATE;
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}
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} else if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) {
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if (_control_mode_current != FW_POSCTRL_MODE_MANUAL_POSITION) {
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/* Need to init because last loop iteration was in a different mode */
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_hold_alt = _current_altitude;
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_hdg_hold_yaw = _yaw; // yaw is not controlled, so set setpoint to current yaw
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@ -696,15 +725,16 @@ FixedwingPositionControl::set_control_mode_current(bool pos_sp_curr_valid)
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_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
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}
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_control_mode_current = FW_POSCTRL_MODE_POSITION;
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_control_mode_current = FW_POSCTRL_MODE_MANUAL_POSITION;
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} else if (_control_mode.flag_control_altitude_enabled) {
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if (_control_mode_current != FW_POSCTRL_MODE_POSITION && _control_mode_current != FW_POSCTRL_MODE_ALTITUDE) {
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} else if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_altitude_enabled) {
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if (_control_mode_current != FW_POSCTRL_MODE_MANUAL_POSITION
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&& _control_mode_current != FW_POSCTRL_MODE_MANUAL_ALTITUDE) {
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/* Need to init because last loop iteration was in a different mode */
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_hold_alt = _current_altitude;
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}
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_control_mode_current = FW_POSCTRL_MODE_ALTITUDE;
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_control_mode_current = FW_POSCTRL_MODE_MANUAL_ALTITUDE;
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} else {
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_control_mode_current = FW_POSCTRL_MODE_OTHER;
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@ -724,9 +754,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
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_att_sp.fw_control_yaw = false; // by default we don't want yaw to be contoller directly with rudder
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_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF; // by default we don't use flaps
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/* no throttle limit as default */
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float throttle_max = 1.0f;
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/* save time when airplane is in air */
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if (!_was_in_air && !_landed) {
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_was_in_air = true;
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@ -767,11 +794,9 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
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publishOrbitStatus(pos_sp_curr);
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}
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const uint8_t position_sp_type = handle_setpoint_type(pos_sp_curr.type, pos_sp_curr);
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_position_sp_type = handle_setpoint_type(pos_sp_curr.type, pos_sp_curr);
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_type = position_sp_type; // for publication
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switch (position_sp_type) {
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switch (_position_sp_type) {
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case position_setpoint_s::SETPOINT_TYPE_IDLE:
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_att_sp.thrust_body[0] = 0.0f;
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_att_sp.roll_body = 0.0f;
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@ -796,12 +821,12 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
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}
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/* reset landing state */
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if (position_sp_type != position_setpoint_s::SETPOINT_TYPE_LAND) {
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if (_position_sp_type != position_setpoint_s::SETPOINT_TYPE_LAND) {
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reset_landing_state();
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}
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/* reset takeoff/launch state */
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if (position_sp_type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
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if (_position_sp_type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
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reset_takeoff_state();
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}
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@ -823,7 +848,7 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
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} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
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_runway_takeoff.runwayTakeoffEnabled()) {
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_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(now, min(get_tecs_thrust(), throttle_max));
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_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(now, get_tecs_thrust());
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} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
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@ -833,10 +858,10 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
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/* Copy thrust and pitch values from tecs */
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if (_landed) {
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// when we are landed state we want the motor to spin at idle speed
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_att_sp.thrust_body[0] = min(_param_fw_thr_idle.get(), throttle_max);
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_att_sp.thrust_body[0] = min(_param_fw_thr_idle.get(), 1.f);
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} else {
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_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
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_att_sp.thrust_body[0] = get_tecs_thrust();
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}
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}
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@ -854,8 +879,68 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
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if (use_tecs_pitch) {
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_att_sp.pitch_body = get_tecs_pitch();
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}
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}
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_last_manual = !_control_mode.flag_control_position_enabled;
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void
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FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const hrt_abstime &now)
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{
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// only control altitude and airspeed ("fixed-bank loiter")
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tecs_update_pitch_throttle(now, _hold_alt,
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_param_fw_airspd_trim.get(),
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radians(_param_fw_p_lim_min.get()),
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radians(_param_fw_p_lim_max.get()),
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_param_fw_thr_min.get(),
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_param_fw_thr_max.get(),
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_param_fw_thr_cruise.get(),
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false,
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_param_fw_p_lim_min.get());
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_att_sp.roll_body = math::radians(_param_nav_gpsf_r.get()); // open loop loiter bank angle
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_att_sp.yaw_body = 0.f;
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if (_landed) {
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_att_sp.thrust_body[0] = _param_fw_thr_min.get();
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} else {
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_att_sp.thrust_body[0] = min(get_tecs_thrust(), _param_fw_thr_max.get());
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}
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_att_sp.pitch_body = get_tecs_pitch();
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}
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void
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FixedwingPositionControl::control_auto_descend(const hrt_abstime &now)
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{
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// only control height rate
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// Hard-code descend rate to 0.5m/s. This is a compromise to give the system to recover,
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// but not letting it drift too far away.
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const float descend_rate = -0.5f;
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tecs_update_pitch_throttle(now, _hold_alt,
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_param_fw_airspd_trim.get(),
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radians(_param_fw_p_lim_min.get()),
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radians(_param_fw_p_lim_max.get()),
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_param_fw_thr_min.get(),
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_param_fw_thr_max.get(),
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_param_fw_thr_cruise.get(),
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false,
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_param_fw_p_lim_min.get(),
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tecs_status_s::TECS_MODE_NORMAL,
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descend_rate);
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_att_sp.roll_body = math::radians(_param_nav_gpsf_r.get()); // open loop loiter bank angle
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_att_sp.yaw_body = 0.f;
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if (_landed) {
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_att_sp.thrust_body[0] = _param_fw_thr_min.get();
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} else {
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_att_sp.thrust_body[0] = min(get_tecs_thrust(), _param_fw_thr_max.get());
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}
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_att_sp.pitch_body = get_tecs_pitch();
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}
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uint8_t
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@ -927,6 +1012,11 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons
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}
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}
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// set to type loiter during VTOL transitions in Land mode (to not start FW landing logic)
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if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LAND && _vehicle_status.in_transition_mode) {
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position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER;
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}
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return position_sp_type;
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}
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@ -1641,7 +1731,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vec
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}
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void
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FixedwingPositionControl::control_altitude(const hrt_abstime &now, const Vector2d &curr_pos,
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FixedwingPositionControl::control_manual_altitude(const hrt_abstime &now, const Vector2d &curr_pos,
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const Vector2f &ground_speed)
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{
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/* ALTITUDE CONTROL: pitch stick moves altitude setpoint, throttle stick sets airspeed */
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@ -1693,12 +1783,10 @@ FixedwingPositionControl::control_altitude(const hrt_abstime &now, const Vector2
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}
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_att_sp.pitch_body = get_tecs_pitch();
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_last_manual = !_control_mode.flag_control_position_enabled;
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}
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void
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FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2d &curr_pos,
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FixedwingPositionControl::control_manual_position(const hrt_abstime &now, const Vector2d &curr_pos,
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const Vector2f &ground_speed)
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{
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const float dt = math::constrain((now - _control_position_last_called) * 1e-6f, 0.01f, 0.05f);
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@ -1813,8 +1901,6 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
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}
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_att_sp.pitch_body = get_tecs_pitch();
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_last_manual = !_control_mode.flag_control_position_enabled;
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}
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float
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@ -1832,7 +1918,7 @@ float
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FixedwingPositionControl::get_tecs_thrust()
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{
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if (_is_tecs_running) {
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return _tecs.get_throttle_setpoint();
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return min(_tecs.get_throttle_setpoint(), 1.f);
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}
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// return 0 to prevent stale tecs state when it's not running
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@ -1959,7 +2045,7 @@ FixedwingPositionControl::Run()
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Vector2d curr_pos(_current_latitude, _current_longitude);
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Vector2f ground_speed(_local_pos.vx, _local_pos.vy);
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set_control_mode_current(_pos_sp_triplet.current.valid);
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set_control_mode_current(_local_pos.timestamp, _pos_sp_triplet.current.valid);
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switch (_control_mode_current) {
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case FW_POSCTRL_MODE_AUTO: {
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@ -1968,13 +2054,23 @@ FixedwingPositionControl::Run()
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break;
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}
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case FW_POSCTRL_MODE_POSITION: {
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control_position(_local_pos.timestamp, curr_pos, ground_speed);
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case FW_POSCTRL_MODE_AUTO_ALTITUDE: {
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control_auto_fixed_bank_alt_hold(_local_pos.timestamp);
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break;
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}
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case FW_POSCTRL_MODE_ALTITUDE: {
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control_altitude(_local_pos.timestamp, curr_pos, ground_speed);
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case FW_POSCTRL_MODE_AUTO_CLIMBRATE: {
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control_auto_descend(_local_pos.timestamp);
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break;
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}
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case FW_POSCTRL_MODE_MANUAL_POSITION: {
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control_manual_position(_local_pos.timestamp, curr_pos, ground_speed);
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break;
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}
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case FW_POSCTRL_MODE_MANUAL_ALTITUDE: {
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control_manual_altitude(_local_pos.timestamp, curr_pos, ground_speed);
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break;
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}
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@ -2008,7 +2104,8 @@ FixedwingPositionControl::Run()
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if (_control_mode.flag_control_position_enabled ||
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_control_mode.flag_control_velocity_enabled ||
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_control_mode.flag_control_acceleration_enabled ||
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_control_mode.flag_control_altitude_enabled) {
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_control_mode.flag_control_altitude_enabled ||
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_control_mode.flag_control_climb_rate_enabled) {
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const Quatf q(Eulerf(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body));
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q.copyTo(_att_sp.q_d);
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@ -2025,6 +2122,7 @@ FixedwingPositionControl::Run()
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}
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_l1_control.reset_has_guidance_updated();
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_last_manual = !_control_mode.flag_control_position_enabled;
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}
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perf_end(_loop_perf);
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@ -2168,7 +2266,8 @@ FixedwingPositionControl::tecs_update_pitch_throttle(const hrt_abstime &now, flo
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bool in_air_alt_control = (!_landed &&
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(_control_mode.flag_control_auto_enabled ||
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_control_mode.flag_control_velocity_enabled ||
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_control_mode.flag_control_altitude_enabled));
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_control_mode.flag_control_altitude_enabled ||
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_control_mode.flag_control_climb_rate_enabled));
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/* update TECS vehicle state estimates */
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_tecs.update_vehicle_state_estimates(_airspeed, _body_acceleration(0), (_local_pos.timestamp > 0), in_air_alt_control,
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@ -257,14 +257,18 @@ private:
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float _manual_control_setpoint_altitude{0.0f};
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float _manual_control_setpoint_airspeed{0.0f};
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hrt_abstime _time_in_fixed_bank_loiter{0};
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ECL_L1_Pos_Controller _l1_control;
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TECS _tecs;
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uint8_t _type{0};
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uint8_t _position_sp_type{0};
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enum FW_POSCTRL_MODE {
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FW_POSCTRL_MODE_AUTO,
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FW_POSCTRL_MODE_POSITION,
|
||||
FW_POSCTRL_MODE_ALTITUDE,
|
||||
FW_POSCTRL_MODE_AUTO_ALTITUDE,
|
||||
FW_POSCTRL_MODE_AUTO_CLIMBRATE,
|
||||
FW_POSCTRL_MODE_MANUAL_POSITION,
|
||||
FW_POSCTRL_MODE_MANUAL_ALTITUDE,
|
||||
FW_POSCTRL_MODE_OTHER
|
||||
} _control_mode_current{FW_POSCTRL_MODE_OTHER}; ///< used to check the mode in the last control loop iteration. Use to check if the last iteration was in the same mode.
|
||||
|
||||
|
|
@ -327,6 +331,10 @@ private:
|
|||
void control_auto(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
|
||||
const position_setpoint_s &pos_sp_prev,
|
||||
const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
|
||||
|
||||
void control_auto_fixed_bank_alt_hold(const hrt_abstime &now);
|
||||
void control_auto_descend(const hrt_abstime &now);
|
||||
|
||||
void control_auto_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
|
||||
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
|
||||
void control_auto_loiter(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
|
||||
|
|
@ -338,8 +346,8 @@ private:
|
|||
void control_auto_landing(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
|
||||
const position_setpoint_s &pos_sp_prev,
|
||||
const position_setpoint_s &pos_sp_curr);
|
||||
void control_altitude(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed);
|
||||
void control_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed);
|
||||
void control_manual_altitude(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed);
|
||||
void control_manual_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed);
|
||||
|
||||
float get_tecs_pitch();
|
||||
float get_tecs_thrust();
|
||||
|
|
@ -350,7 +358,7 @@ private:
|
|||
void reset_takeoff_state(bool force = false);
|
||||
void reset_landing_state();
|
||||
Vector2f get_nav_speed_2d(const Vector2f &ground_speed);
|
||||
void set_control_mode_current(bool pos_sp_curr_valid);
|
||||
void set_control_mode_current(const hrt_abstime &now, bool pos_sp_curr_valid);
|
||||
|
||||
void publishOrbitStatus(const position_setpoint_s pos_sp);
|
||||
|
||||
|
|
@ -424,6 +432,10 @@ private:
|
|||
|
||||
(ParamBool<px4::params::FW_POSCTL_INV_ST>) _param_fw_posctl_inv_st,
|
||||
|
||||
|
||||
(ParamInt<px4::params::FW_GPSF_LT>) _param_nav_gpsf_lt,
|
||||
(ParamFloat<px4::params::FW_GPSF_R>) _param_nav_gpsf_r,
|
||||
|
||||
// external parameters
|
||||
(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,
|
||||
|
||||
|
|
|
|||
|
|
@ -825,3 +825,32 @@ PARAM_DEFINE_FLOAT(FW_T_CLMB_R_SP, 3.0f);
|
|||
* @group FW TECS
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_T_SINK_R_SP, 2.0f);
|
||||
|
||||
/**
|
||||
* GPS failure loiter time
|
||||
*
|
||||
* The time in seconds the system should do open loop loiter and wait for GPS recovery
|
||||
* before it starts descending. Set to 0 to disable. Roll angle is set to FW_GPSF_R.
|
||||
* Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
|
||||
*
|
||||
* @unit s
|
||||
* @min 0
|
||||
* @max 3600
|
||||
* @group Mission
|
||||
*/
|
||||
PARAM_DEFINE_INT32(FW_GPSF_LT, 30);
|
||||
|
||||
/**
|
||||
* GPS failure fixed roll angle
|
||||
*
|
||||
* Roll in degrees during the loiter after the vehicle has lost GPS in an auto mode (e.g. mission or loiter).
|
||||
* Does only apply for fixed-wing vehicles or VTOLs with NAV_FORCE_VT set to 0.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 30.0
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Mission
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_GPSF_R, 15.0f);
|
||||
|
|
|
|||
Loading…
Reference in New Issue