forked from Archive/PX4-Autopilot
Restructure FlightTaskAutoLine:
-add FlightTaskAutoMapper that handles the different types of waypoint and generates setpoints for all types except of position and loiter - FlightTaskAutoLine generates the setpoint types position and loiter if the flight between waypoint is a straight line
This commit is contained in:
Martina
ChristophTobler
parent
253323601a
commit
d85481be6d
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@ -42,6 +42,7 @@ tasks/FlightTask.cpp
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tasks/FlightTaskManualPositionSmooth.cpp
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tasks/FlightTaskAuto.cpp
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tasks/FlightTaskAutoLine.cpp
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tasks/FlightTaskAutoMapper.cpp
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tasks/FlightTaskAutoFollowMe.cpp
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tasks/FlightTaskOffboard.cpp
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tasks/Utility/ManualSmoothingZ.cpp
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@ -45,108 +45,9 @@ using namespace matrix;
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bool FlightTaskAutoLine::activate()
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{
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bool ret = FlightTaskAuto::activate();
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_reset();
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return ret;
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return FlightTaskAutoMapper::activate();
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}
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bool FlightTaskAutoLine::update()
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{
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// always reset constraints because they might change depending on the type
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_setDefaultConstraints();
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_updateAltitudeAboveGround();
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bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
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bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;
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// 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state.
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if (follow_line && !follow_line_prev) {
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_reset();
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}
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// The only time a thrust set-point is sent out is during
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// idle. Hence, reset thrust set-point to NAN in case the
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// vehicle exits idle.
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if (_type_previous == WaypointType::idle) {
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_thrust_setpoint = Vector3f(NAN, NAN, NAN);
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}
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if (_type == WaypointType::idle) {
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_generateIdleSetpoints();
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} else if (_type == WaypointType::land) {
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_generateLandSetpoints();
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} else if (follow_line) {
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_generateSetpoints();
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} else if (_type == WaypointType::takeoff) {
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_generateTakeoffSetpoints();
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} else if (_type == WaypointType::velocity) {
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_generateVelocitySetpoints();
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}
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// update previous type
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_type_previous = _type;
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return true;
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}
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void FlightTaskAutoLine::_reset()
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{
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// Set setpoints equal current state.
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_velocity_setpoint = _velocity;
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_position_setpoint = _position;
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_yaw_setpoint = _yaw;
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_destination = _position;
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_origin = _position;
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_speed_at_target = 0.0f;
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}
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void FlightTaskAutoLine::_generateIdleSetpoints()
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{
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// Send zero thrust setpoint */
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_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
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_velocity_setpoint = Vector3f(NAN, NAN, NAN);
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_thrust_setpoint.zero();
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}
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void FlightTaskAutoLine::_generateLandSetpoints()
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{
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// Keep xy-position and go down with landspeed. */
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_position_setpoint = Vector3f(_target(0), _target(1), NAN);
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_velocity_setpoint = Vector3f(Vector3f(NAN, NAN, MPC_LAND_SPEED.get()));
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// set constraints
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_constraints.tilt = MPC_TILTMAX_LND.get();
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_constraints.speed_down = MPC_LAND_SPEED.get();
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_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
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}
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void FlightTaskAutoLine::_generateTakeoffSetpoints()
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{
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// Takeoff is completely defined by target position. */
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_position_setpoint = _target;
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_velocity_setpoint = Vector3f(NAN, NAN, NAN);
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// limit vertical speed during takeoff
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_constraints.speed_up = math::gradual(_alt_above_ground, MPC_LAND_ALT2.get(),
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MPC_LAND_ALT1.get(), MPC_TKO_SPEED.get(), _constraints.speed_up);
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_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
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}
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void FlightTaskAutoLine::_generateVelocitySetpoints()
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{
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// TODO: Remove velocity force logic from navigator, since
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// navigator should only send out waypoints.
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_position_setpoint = Vector3f(NAN, NAN, _position(2));
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Vector2f vel_sp_xy = Vector2f(&_velocity(0)).unit_or_zero() * _mc_cruise_speed;
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_velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
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}
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void FlightTaskAutoLine::_generateSetpoints()
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{
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@ -517,31 +418,8 @@ float FlightTaskAutoLine::_getVelocityFromAngle(const float angle)
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return math::constrain(speed_close, min_cruise_speed, _mc_cruise_speed);
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}
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void FlightTaskAutoLine::_updateAltitudeAboveGround()
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{
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// Altitude above ground is by default just the negation of the current local position in D-direction.
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_alt_above_ground = -_position(2);
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if (PX4_ISFINITE(_dist_to_bottom)) {
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// We have a valid distance to ground measurement
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_alt_above_ground = _dist_to_bottom;
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} else if (_sub_home_position->get().valid_alt) {
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// if home position is set, then altitude above ground is relative to the home position
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_alt_above_ground = -_position(2) + _sub_home_position->get().z;
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}
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}
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bool FlightTaskAutoLine::_highEnoughForLandingGear()
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{
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// return true if altitude is above two meters
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return _alt_above_ground > 2.0f;
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}
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void FlightTaskAutoLine::updateParams()
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{
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FlightTaskAuto::updateParams();
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// make sure that alt1 is above alt2
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MPC_LAND_ALT1.set(math::max(MPC_LAND_ALT1.get(), MPC_LAND_ALT2.get()));
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}
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@ -40,60 +40,31 @@
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#pragma once
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#include "FlightTaskAuto.hpp"
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#include "FlightTaskAutoMapper.hpp"
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class FlightTaskAutoLine : public FlightTaskAuto
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class FlightTaskAutoLine : public FlightTaskAutoMapper
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{
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public:
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FlightTaskAutoLine() = default;
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virtual ~FlightTaskAutoLine() = default;
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bool activate() override;
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bool update() override;
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protected:
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matrix::Vector3f _destination{}; /**< Current target. Is not necessarily the same as triplet target. */
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matrix::Vector3f _origin{}; /**< Previous waypoint. Is not necessarily the same as triplet previous. */
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float _speed_at_target = 0.0f; /**< Desired velocity at target. */
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float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
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enum class State {
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offtrack, /**< Vehicle is more than cruise speed away from track */
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target_behind, /**< Vehicle is in front of target. */
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previous_infront, /**< Vehilce is behind previous waypoint.*/
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none /**< Vehicle is in normal tracking mode from triplet previous to triplet target */
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};
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State _current_state{State::none};
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAuto,
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(ParamFloat<px4::params::MPC_LAND_SPEED>) MPC_LAND_SPEED,
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(ParamFloat<px4::params::MPC_CRUISE_90>) MPC_CRUISE_90, // speed at corner when angle is 90 degrees
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(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD, // acceptance radius at which waypoints are updated
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DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoLine,
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(ParamFloat<px4::params::MIS_YAW_ERR>) MIS_YAW_ERR, // yaw-error threshold
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(ParamFloat<px4::params::MPC_LAND_ALT1>) MPC_LAND_ALT1, // altitude at which speed limit downwards reaches maximum speed
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(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed
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(ParamFloat<px4::params::MPC_ACC_UP_MAX>) MPC_ACC_UP_MAX,
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(ParamFloat<px4::params::MPC_ACC_DOWN_MAX>) MPC_ACC_DOWN_MAX,
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(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR, // acceleration in flight
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(ParamFloat<px4::params::MPC_TILTMAX_LND>) MPC_TILTMAX_LND,
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(ParamFloat<px4::params::MPC_TKO_SPEED>) MPC_TKO_SPEED
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(ParamFloat<px4::params::MPC_ACC_HOR>) MPC_ACC_HOR // acceleration in flight
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)
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void _generateIdleSetpoints();
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void _generateLandSetpoints();
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void _generateVelocitySetpoints();
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void _generateTakeoffSetpoints();
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void _generateSetpoints() override;
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void _updateInternalWaypoints(); /**< Depending on state of vehicle, the internal waypoints might differ from target (for instance if offtrack). */
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void _generateSetpoints(); /**< Generate velocity and position setpoint for following line. */
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void _generateAltitudeSetpoints(); /**< Generate velocity and position setpoints for following line along z. */
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void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
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void _generateXYsetpoints(); /**< Generate velocity and position setpoints for following line along xy. */
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void updateParams() override; /**< See ModuleParam class */
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private:
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float _getVelocityFromAngle(const float angle); /**< Computes the speed at target depending on angle. */
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bool _highEnoughForLandingGear(); /**< Checks if gears can be lowered. */
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void _reset(); /**< Resets member variables to current vehicle state */
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WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
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};
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@ -0,0 +1,171 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file FlightAutoLine.cpp
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*/
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#include "FlightTaskAutoMapper.hpp"
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#include <mathlib/mathlib.h>
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using namespace matrix;
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#define SIGMA_SINGLE_OP 0.000001f
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#define SIGMA_NORM 0.001f
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bool FlightTaskAutoMapper::activate()
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{
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bool ret = FlightTaskAuto::activate();
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_reset();
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return ret;
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}
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bool FlightTaskAutoMapper::update()
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{
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// always reset constraints because they might change depending on the type
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_setDefaultConstraints();
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_updateAltitudeAboveGround();
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bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
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bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;
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// 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state.
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if (follow_line && !follow_line_prev) {
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_reset();
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}
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// The only time a thrust set-point is sent out is during
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// idle. Hence, reset thrust set-point to NAN in case the
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// vehicle exits idle.
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if (_type_previous == WaypointType::idle) {
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_thrust_setpoint = Vector3f(NAN, NAN, NAN);
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}
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if (_type == WaypointType::idle) {
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_generateIdleSetpoints();
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} else if (_type == WaypointType::land) {
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_generateLandSetpoints();
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} else if (follow_line) {
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_generateSetpoints();
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} else if (_type == WaypointType::takeoff) {
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_generateTakeoffSetpoints();
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} else if (_type == WaypointType::velocity) {
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_generateVelocitySetpoints();
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}
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// update previous type
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_type_previous = _type;
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return true;
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}
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void FlightTaskAutoMapper::_reset()
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{
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// Set setpoints equal current state.
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_velocity_setpoint = _velocity;
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_position_setpoint = _position;
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_yaw_setpoint = _yaw;
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_destination = _position;
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_origin = _position;
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_speed_at_target = 0.0f;
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}
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void FlightTaskAutoMapper::_generateIdleSetpoints()
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{
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// Send zero thrust setpoint */
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_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
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_velocity_setpoint = Vector3f(NAN, NAN, NAN);
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_thrust_setpoint.zero();
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}
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void FlightTaskAutoMapper::_generateLandSetpoints()
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{
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// Keep xy-position and go down with landspeed. */
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_position_setpoint = Vector3f(_target(0), _target(1), NAN);
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_velocity_setpoint = Vector3f(Vector3f(NAN, NAN, MPC_LAND_SPEED.get()));
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// set constraints
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_constraints.tilt = MPC_TILTMAX_LND.get();
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_constraints.speed_down = MPC_LAND_SPEED.get();
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_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
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}
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void FlightTaskAutoMapper::_generateTakeoffSetpoints()
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{
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// Takeoff is completely defined by target position. */
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_position_setpoint = _target;
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_velocity_setpoint = Vector3f(NAN, NAN, NAN);
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// limit vertical speed during takeoff
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_constraints.speed_up = math::gradual(_alt_above_ground, MPC_LAND_ALT2.get(),
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MPC_LAND_ALT1.get(), MPC_TKO_SPEED.get(), _constraints.speed_up);
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_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
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}
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void FlightTaskAutoMapper::_generateVelocitySetpoints()
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{
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// TODO: Remove velocity force logic from navigator, since
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// navigator should only send out waypoints.
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_position_setpoint = Vector3f(NAN, NAN, _position(2));
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Vector2f vel_sp_xy = Vector2f(&_velocity(0)).unit_or_zero() * _mc_cruise_speed;
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_velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
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}
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void FlightTaskAutoMapper::_updateAltitudeAboveGround()
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{
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// Altitude above ground is by default just the negation of the current local position in D-direction.
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_alt_above_ground = -_position(2);
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if (PX4_ISFINITE(_dist_to_bottom)) {
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// We have a valid distance to ground measurement
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_alt_above_ground = _dist_to_bottom;
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} else if (_sub_home_position->get().valid_alt) {
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// if home position is set, then altitude above ground is relative to the home position
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_alt_above_ground = -_position(2) + _sub_home_position->get().z;
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}
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}
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void FlightTaskAutoMapper::updateParams()
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{
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FlightTaskAuto::updateParams();
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// make sure that alt1 is above alt2
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MPC_LAND_ALT1.set(math::max(MPC_LAND_ALT1.get(), MPC_LAND_ALT2.get()));
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}
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@ -0,0 +1,93 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
|
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*
|
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* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
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****************************************************************************/
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/**
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* @file FlightTaskAutoMapper.hpp
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*
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* Flight task for autonomous, gps driven mode. The vehicle flies
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* along a straight line in between waypoints.
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*/
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#pragma once
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#include "FlightTaskAuto.hpp"
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class FlightTaskAutoMapper : public FlightTaskAuto
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{
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public:
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FlightTaskAutoMapper() = default;
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virtual ~FlightTaskAutoMapper() = default;
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bool activate() override;
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bool update() override;
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protected:
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|
||||
matrix::Vector3f _destination{}; /**< Current target. Is not necessarily the same as triplet target. */
|
||||
matrix::Vector3f _origin{}; /**< Previous waypoint. Is not necessarily the same as triplet previous. */
|
||||
float _speed_at_target = 0.0f; /**< Desired velocity at target. */
|
||||
float _alt_above_ground{0.0f}; /**< If home provided, then it is altitude above home, otherwise it is altitude above local position reference. */
|
||||
|
||||
enum class State {
|
||||
offtrack, /**< Vehicle is more than cruise speed away from track */
|
||||
target_behind, /**< Vehicle is in front of target. */
|
||||
previous_infront, /**< Vehilce is behind previous waypoint.*/
|
||||
none /**< Vehicle is in normal tracking mode from triplet previous to triplet target */
|
||||
};
|
||||
State _current_state{State::none};
|
||||
|
||||
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTaskAutoMapper,
|
||||
(ParamFloat<px4::params::MPC_LAND_SPEED>) MPC_LAND_SPEED,
|
||||
(ParamFloat<px4::params::MPC_CRUISE_90>) MPC_CRUISE_90, // speed at corner when angle is 90 degrees move to line
|
||||
(ParamFloat<px4::params::NAV_ACC_RAD>) NAV_ACC_RAD, // acceptance radius at which waypoints are updated move to line
|
||||
(ParamFloat<px4::params::MPC_LAND_ALT1>) MPC_LAND_ALT1, // altitude at which speed limit downwards reaches maximum speed
|
||||
(ParamFloat<px4::params::MPC_LAND_ALT2>) MPC_LAND_ALT2, // altitude at which speed limit downwards reached minimum speed
|
||||
(ParamFloat<px4::params::MPC_TILTMAX_LND>) MPC_TILTMAX_LND,
|
||||
(ParamFloat<px4::params::MPC_TKO_SPEED>) MPC_TKO_SPEED
|
||||
)
|
||||
|
||||
virtual void _generateSetpoints() = 0; /**< Generate velocity and position setpoint for following line. */
|
||||
|
||||
void _generateIdleSetpoints();
|
||||
void _generateLandSetpoints();
|
||||
void _generateVelocitySetpoints();
|
||||
void _generateTakeoffSetpoints();
|
||||
|
||||
void _updateAltitudeAboveGround(); /**< Computes altitude above ground based on sensors available. */
|
||||
void updateParams() override; /**< See ModuleParam class */
|
||||
|
||||
private:
|
||||
void _reset(); /**< Resets member variables to current vehicle state */
|
||||
WaypointType _type_previous{WaypointType::idle}; /**< Previous type of current target triplet. */
|
||||
|
||||
};
|
||||
Loading…
Reference in New Issue