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Bottle drop: lots of changes, working in HIL

This commit is contained in:
Julian Oes 2013-12-02 23:05:28 +01:00
parent 808294b01a
commit f2c303679e
1 changed files with 78 additions and 52 deletions
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130
src/modules/bottle_drop/bottle_drop.c
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@ -258,7 +258,7 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
struct vehicle_attitude_s att; struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att)); memset(&att, 0, sizeof(att));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
orb_set_interval(vehicle_attitude_sub, 100); orb_set_interval(vehicle_attitude_sub, 20);
struct vehicle_global_position_s globalpos; struct vehicle_global_position_s globalpos;
memset(&globalpos, 0, sizeof(globalpos)); memset(&globalpos, 0, sizeof(globalpos));
@ -292,6 +292,9 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
{ .fd = vehicle_attitude_sub, .events = POLLIN } { .fd = vehicle_attitude_sub, .events = POLLIN }
}; };
double latitude;
double longitude;
while (!thread_should_exit) { while (!thread_should_exit) {
@ -312,6 +315,9 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
if (updated){ if (updated){
/* copy global position */ /* copy global position */
orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &globalpos); orb_copy(ORB_ID(vehicle_global_position), vehicle_global_position_sub, &globalpos);
latitude = (double)globalpos.lat / 1e7;
longitude = (double)globalpos.lon / 1e7;
} }
orb_check(parameter_update_sub, &updated); orb_check(parameter_update_sub, &updated);
@ -330,22 +336,10 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
} }
// Initialization // Initialization
az = g; // acceleration in z direction[m/s^2]
vz = 0; // velocity in z direction [m/s]
z = 0; // fallen distance [m] vr = sqrtf(powf(wind_speed.vx,2) + powf(wind_speed.vy,2)); // absolute wind speed [m/s]
h_0 = globalpos.alt - target_position.alt; // height over target at start[m] distance_open_door = fabsf(t_door * globalpos.vx);
h = h_0; // height over target [m]
ax = 0; // acceleration in x direction [m/s^2]
vx = globalpos.vx; // ground speed in x direction [m/s]
x = 0; // traveled distance in x direction [m]
vw = 0; // wind speed [m/s]
vrx = 0; // relative velocity in x direction [m/s]
v = globalpos.vx; // relative speed vector [m/s]
Fd = 0; // Drag force [N]
Fdx = 0; // Drag force in x direction [N]
Fdz = 0; // Drag force in z direction [N]
vr = sqrt(pow(wind_speed.vx,2) + pow(wind_speed.vy,2)); // absolute wind speed [m/s]
distance_open_door = t_door * globalpos.vx;
//warnx("absolut wind speed = %.4f", vr); //////////////////////////////////////////////////////////////////// DEBUGGING //warnx("absolut wind speed = %.4f", vr); //////////////////////////////////////////////////////////////////// DEBUGGING
@ -354,7 +348,7 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
//warnx("Initialization complete\n"); //////////////////////////////////////////////////////////////////// DEBUGGING //warnx("Initialization complete\n"); //////////////////////////////////////////////////////////////////// DEBUGGING
if (drop_approval && !state_drop && counter % 10 == 0) if (drop_approval && !state_drop)
{ {
//warnx("approval given\n"); //////////////////////////////////////////////////////////////////// DEBUGGING //warnx("approval given\n"); //////////////////////////////////////////////////////////////////// DEBUGGING
// drop here // drop here
@ -362,37 +356,53 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
//drop = false; //drop = false;
//drop_start = hrt_absolute_time(); //drop_start = hrt_absolute_time();
// Compute the distance the bottle will travel after it is dropped in body frame coordinates --> x
while( h > 0.05f)
{
// z-direction
vz = vz + az*dt;
z = z + vz*dt;
h = h_0 - z;
// x-direction if (counter % 50 == 0) {
vw = vr*logf(h/z_0)/logf(wind_speed.altitude/z_0);
vx = vx + ax*dt;
x = x + vx*dt;
vrx = vx + vw;
//Drag force az = g; // acceleration in z direction[m/s^2]
v = sqrtf(powf(vz,2.0f) + powf(vrx,2.0f)); vz = 0; // velocity in z direction [m/s]
Fd = 0.5f*rho*A*cd*powf(v,2.0f); z = 0; // fallen distance [m]
Fdx = Fd*vrx/v; h_0 = globalpos.alt - target_position.alt; // height over target at start[m]
Fdz = Fd*vz/v; h = h_0; // height over target [m]
ax = 0; // acceleration in x direction [m/s^2]
vx = sqrtf(powf(globalpos.vx,2.0f) + powf(globalpos.vy,2.0f)); // ground speed in x direction [m/s]
x = 0; // traveled distance in x direction [m]
vw = 0; // wind speed [m/s]
vrx = 0; // relative velocity in x direction [m/s]
v = sqrtf(powf(globalpos.vx,2.0f) + powf(globalpos.vy,2.0f)); // relative speed vector [m/s]
Fd = 0; // Drag force [N]
Fdx = 0; // Drag force in x direction [N]
Fdz = 0; // Drag force in z direction [N]
//acceleration
az = g - Fdz/m;
ax = -Fdx/m;
// Compute the distance the bottle will travel after it is dropped in body frame coordinates --> x
while( h > 0.05f)
{
// z-direction
vz = vz + az*dt;
z = z + vz*dt;
h = h_0 - z;
// x-direction
vw = vr*logf(h/z_0)/logf(wind_speed.altitude/z_0);
vx = vx + ax*dt;
x = x + vx*dt;
vrx = vx + vw;
//Drag force
v = sqrtf(powf(vz,2.0f) + powf(vrx,2.0f));
Fd = 0.5f*rho*A*cd*powf(v,2.0f);
Fdx = Fd*vrx/v;
Fdz = Fd*vz/v;
//acceleration
az = g - Fdz/m;
ax = -Fdx/m;
}
// Compute Drop point
x = sqrtf(powf(globalpos.vx,2.0f) + powf(globalpos.vy,2.0f))*t_signal + x;
map_projection_init(target_position.lat, target_position.lon);
} }
// Compute Drop point
x = globalpos.vx*t_signal + x;
map_projection_init(target_position.lat, target_position.lon);
//warnx("x = %.4f", x); //////////////////////////////////////////////////////////////////// DEBUGGING
map_projection_project(target_position.lat, target_position.lon, &x_t, &y_t); map_projection_project(target_position.lat, target_position.lon, &x_t, &y_t);
if( vr < 0.001f) // if there is no wind, an arbitrarily direction is chosen if( vr < 0.001f) // if there is no wind, an arbitrarily direction is chosen
@ -417,14 +427,26 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
//warnx("Flight vector: starting point = %.7f %.7f , end point = %.7f %.7f", flight_vector_s.lat,flight_vector_s.lon,flight_vector_e.lat,flight_vector_e.lon); //////////////////////////////////////////////////////////////////// DEBUGGING //warnx("Flight vector: starting point = %.7f %.7f , end point = %.7f %.7f", flight_vector_s.lat,flight_vector_s.lon,flight_vector_e.lat,flight_vector_e.lon); //////////////////////////////////////////////////////////////////// DEBUGGING
// Drop Cancellation if terms are not met // Drop Cancellation if terms are not met
distance_real = get_distance_to_next_waypoint(globalpos.lat, globalpos.lon, drop_position.lat, drop_position.lon);
map_projection_project(globalpos.lat, globalpos.lon, &x_l, &y_l); // warnx("latitude:%.2f", latitude);
x_f = x_l + globalpos.vx*cosf(globalpos.yaw)*dt2 - globalpos.vy*sinf(globalpos.yaw)*dt2; // Attention to sign, has to be checked // warnx("longitude:%.2f", longitude);
y_f = y_l + globalpos.vy*cosf(globalpos.yaw)*dt2 - globalpos.vx*sinf(globalpos.yaw)*dt2; // warnx("drop_position.lat:%.2f", drop_position.lat);
// warnx("drop_position.lon:%.2f", drop_position.lon);
distance_real = fabsf(get_distance_to_next_waypoint(latitude, longitude, drop_position.lat, drop_position.lon));
map_projection_project(latitude, longitude, &x_l, &y_l);
x_f = x_l + globalpos.vx*dt2;
y_f = y_l + globalpos.vy*dt2;
map_projection_reproject(x_f, y_f, &x_f_NED, &y_f_NED); map_projection_reproject(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 = fabsf(get_distance_to_next_waypoint(x_f_NED, y_f_NED, drop_position.lat, drop_position.lon));
//warnx("position to-be: = %.7f %.7f" ,x_f_NED, y_f_NED ); //////////////////////////////////////////////////////////////////// DEBUGGING //warnx("position to-be: = %.7f %.7f" ,x_f_NED, y_f_NED ); //////////////////////////////////////////////////////////////////// DEBUGGING
// if (counter % 10 ==0) {
// warnx("x: %.4f", x);
// warnx("drop_position.lat: %.4f, drop_position.lon: %.4f", drop_position.lat, drop_position.lon);
// warnx("latitude %.4f, longitude: %.4f", latitude, longitude);
// warnx("future_distance: %.2f, precision: %.2f", future_distance, precision);
// }
onboard_mission.count = 2; onboard_mission.count = 2;
@ -434,16 +456,19 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
onboard_mission.current_index = -1; onboard_mission.current_index = -1;
} }
// if (counter % 10 ==0)
// warnx("Distance real: %.2f, distance_open_door: %.2f, angle to wind: %.2f", distance_real, distance_open_door, fabsf(_wrap_pi(globalpos.yaw-atan2f(wind_speed.vy,wind_speed.vx)+M_PI_F)));
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission); orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
} }
if(distance_real < distance_open_door && drop_approval) if(isfinite(distance_real) && distance_real < distance_open_door && drop_approval)
{ {
actuators.control[0] = -1.0f; // open door actuators.control[0] = -1.0f; // open door
actuators.control[1] = 1.0f; actuators.control[1] = 1.0f;
state_door = true; state_door = true;
warnx("open doors");
} }
else else
{ // closed door and locked survival kit { // closed door and locked survival kit
@ -452,13 +477,14 @@ int bottle_drop_thread_main(int argc, char *argv[]) {
actuators.control[2] = -0.5f; actuators.control[2] = -0.5f;
state_door = false; state_door = false;
} }
if(distance_real < precision && distance_real < future_distance && state_door) // Drop only if the distance between drop point and actual position is getting larger again if(isfinite(distance_real) && distance_real < precision && distance_real < future_distance && state_door) // Drop only if the distance between drop point and actual position is getting larger again
{ {
if(fabsf(acosf(cosf(globalpos.yaw))+acosf(wind_speed.vx)) < 10.0f/180.0f*M_PI_F) // if flight trajectory deviates more than 10 degrees from calculated path, it will no drop if(fabsf(_wrap_pi(globalpos.yaw-atan2f(wind_speed.vy,wind_speed.vx)+M_PI_F)) < 10.0f/180.0f*M_PI_F) // if flight trajectory deviates more than 10 degrees from calculated path, it will no drop
{ {
actuators.control[2] = 0.5f; actuators.control[2] = 0.5f;
state_drop = true; state_drop = true;
state_run = true; state_run = true;
warnx("dropping now");
} }
else else
{ {