Last drop fixes and adjustments

This commit is contained in:
Lorenz Meier 2014-08-15 23:40:53 +02:00
parent 20ceba48cf
commit f8f72d665d
2 changed files with 67 additions and 58 deletions

View File

@ -112,16 +112,20 @@ private:
int _command_sub;
int _wind_estimate_sub;
struct vehicle_command_s _command;
struct vehicle_global_position_s _global_pos;
map_projection_reference_s ref;
orb_advert_t _actuator_pub;
struct actuator_controls_s _actuators;
bool drop_approval;
bool _drop_approval;
bool _open_door;
bool _drop;
hrt_abstime _doors_opened;
hrt_abstime _drop_time;
float _alt_clearance;
struct position_s {
double lat; //degrees
double lon; //degrees
@ -159,12 +163,16 @@ BottleDrop::BottleDrop() :
_command_sub(-1),
_wind_estimate_sub(-1),
_command {},
_actuator_pub(-1),
_actuators {},
_open_door(false),
_drop(false),
_doors_opened(0),
_drop_time(0)
_global_pos {},
ref {},
_actuator_pub(-1),
_actuators {},
_drop_approval(false),
_open_door(false),
_drop(false),
_doors_opened(0),
_drop_time(0),
_alt_clearance(0)
{
}
@ -310,7 +318,6 @@ BottleDrop::task_main()
bool updated = false;
float height; // height at which the normal should be dropped NED
float z_0; // ground properties
float turn_radius; // turn radius of the UAV
float precision; // Expected precision of the UAV
@ -319,12 +326,12 @@ BottleDrop::task_main()
float ground_distance = 70.0f;
// constant
float g = 9.81f; // constant of gravity [m/s^2]
float g = CONSTANTS_ONE_G; // constant of gravity [m/s^2]
float m = 0.5f; // mass of bottle [kg]
float rho = 1.2f; // air density [kg/m^3]
float A = (powf(0.063f, 2.0f) / 4.0f * M_PI_F); // Bottle cross section [m^2]
float dt = 0.01f; // step size [s]
float dt2 = 0.05f; // step size 2 [s]
float A = ((0.063f * 0.063f) / 4.0f * M_PI_F); // Bottle cross section [m^2]
float dt_freefall_prediction = 0.01f; // step size of the free fall prediction [s]
float dt_runs = 0.05f; // step size 2 [s]
// Has to be estimated by experiment
float cd = 0.86f; // Drag coefficient for a cylinder with a d/l ratio of 1/3 []
@ -352,8 +359,8 @@ BottleDrop::task_main()
float x_drop, y_drop; // coordinates of the drop point in reference to the target (projection of NED)
float x_t, y_t; // coordinates of the target in reference to the target x_t = 0, y_t = 0 (projection of NED)
float x_l, y_l; // local position in projected coordinates
float x_f, y_f; // to-be position of the UAV after dt2 seconds in projected coordinates
double x_f_NED, y_f_NED; // to-be position of the UAV after dt2 seconds in NED
float x_f, y_f; // to-be position of the UAV after dt_runs seconds in projected coordinates
double x_f_NED, y_f_NED; // to-be position of the UAV after dt_runs seconds in NED
float distance_open_door; // The distance the UAV travels during its doors open [m]
float distance_real = 0; // The distance between the UAVs position and the drop point [m]
float future_distance = 0; // The distance between the UAVs to-be position and the drop point [m]
@ -364,7 +371,6 @@ BottleDrop::task_main()
unsigned counter = 0;
param_t param_height = param_find("BD_HEIGHT");
param_t param_gproperties = param_find("BD_GPROPERTIES");
param_t param_turn_radius = param_find("BD_TURNRADIUS");
param_t param_precision = param_find("BD_PRECISION");
@ -372,11 +378,8 @@ BottleDrop::task_main()
param_get(param_precision, &precision);
param_get(param_turn_radius, &turn_radius);
param_get(param_height, &height);
param_get(param_gproperties, &z_0);
struct vehicle_global_position_s globalpos;
memset(&globalpos, 0, sizeof(globalpos));
int vehicle_global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
struct parameter_update_s update;
@ -389,6 +392,7 @@ BottleDrop::task_main()
flight_vector_s.nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_s.acceptance_radius = 50; // TODO: make parameter
flight_vector_s.autocontinue = true;
flight_vector_e.nav_cmd = NAV_CMD_WAYPOINT;
flight_vector_e.acceptance_radius = 50; // TODO: make parameter
flight_vector_e.autocontinue = true;
@ -397,14 +401,11 @@ BottleDrop::task_main()
memset(&onboard_mission, 0, sizeof(onboard_mission));
orb_advert_t onboard_mission_pub = -1;
bool position_initialized = false;
double latitude;
double longitude;
struct wind_estimate_s wind;
map_projection_reference_s ref;
/* wakeup source(s) */
struct pollfd fds[1];
@ -435,16 +436,21 @@ BottleDrop::task_main()
orb_check(vehicle_global_position_sub, &updated);
if (updated) {
/* 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, &_global_pos);
latitude = (double)globalpos.lat / 1e7;
longitude = (double)globalpos.lon / 1e7;
latitude = (double)_global_pos.lat / 1e7;
longitude = (double)_global_pos.lon / 1e7;
}
if (!position_initialized) {
if (_global_pos.timestamp == 0) {
continue;
}
const unsigned sleeptime_us = 10000;
hrt_abstime last_run = hrt_absolute_time();
dt_runs = 1e6f / sleeptime_us;
/* switch to faster updates during the drop */
while (_drop) {
@ -464,10 +470,10 @@ BottleDrop::task_main()
if (updated) {
/* 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, &_global_pos);
latitude = (double)globalpos.lat / 1e7;
longitude = (double)globalpos.lon / 1e7;
latitude = (double)_global_pos.lat / 1e7;
longitude = (double)_global_pos.lon / 1e7;
}
orb_check(parameter_update_sub, &updated);
@ -477,7 +483,6 @@ BottleDrop::task_main()
orb_copy(ORB_ID(parameter_update), parameter_update_sub, &update);
/* update all parameters */
param_get(param_height, &height);
param_get(param_gproperties, &z_0);
param_get(param_turn_radius, &turn_radius);
param_get(param_precision, &precision);
@ -486,7 +491,7 @@ BottleDrop::task_main()
// Initialization
float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east);
float groundspeed_body = sqrtf(globalpos.vel_n * globalpos.vel_n + globalpos.vel_e * globalpos.vel_e);
float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e);
distance_open_door = fabsf(t_door * groundspeed_body);
@ -497,7 +502,7 @@ BottleDrop::task_main()
//warnx("Initialization complete\n"); //////////////////////////////////////////////////////////////////// DEBUGGING
if (drop_approval && !state_drop) {
if (_drop_approval && !state_drop) {
//warnx("approval given\n"); //////////////////////////////////////////////////////////////////// DEBUGGING
// drop here
//open_now = true;
@ -510,7 +515,7 @@ BottleDrop::task_main()
az = g; // acceleration in z direction[m/s^2]
vz = 0; // velocity in z direction [m/s]
z = 0; // fallen distance [m]
h_0 = globalpos.alt - _target_position.alt; // height over target at start[m]
h_0 = _global_pos.alt - _target_position.alt; // height over target at start[m]
h = h_0; // height over target [m]
ax = 0; // acceleration in x direction [m/s^2]
vx = groundspeed_body;// XXX project // ground speed in x direction [m/s]
@ -526,14 +531,14 @@ BottleDrop::task_main()
// 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;
vz = vz + az * dt_freefall_prediction;
z = z + vz * dt_freefall_prediction;
h = h_0 - z;
// x-direction
vw = windspeed_norm * logf(h / z_0) / logf(ground_distance / z_0);
vx = vx + ax * dt;
x = x + vx * dt;
vx = vx + ax * dt_freefall_prediction;
x = x + vx * dt_freefall_prediction;
vrx = vx + vw;
//Drag force
@ -547,12 +552,12 @@ BottleDrop::task_main()
ax = -Fdx / m;
}
// Compute Drop point
// Compute drop vector
x = groundspeed_body * t_signal + x;
map_projection_init(&ref, _target_position.lat, _target_position.lon);
}
map_projection_project(&ref, _target_position.lat, _target_position.lon, &x_t, &y_t);
x_t = 0.0f;
y_t = 0.0f;
float wind_direction_n, wind_direction_e;
@ -568,7 +573,6 @@ BottleDrop::task_main()
x_drop = x_t + x * wind_direction_n;
y_drop = y_t + x * wind_direction_e;
map_projection_reproject(&ref, x_drop, y_drop, &_drop_position.lat, &_drop_position.lon);
_drop_position.alt = height;
//warnx("drop point: lat = %.7f , lon = %.7f", drop_position.lat, drop_position.lon); //////////////////////////////////////////////////////////////////// DEBUGGING
@ -576,10 +580,10 @@ BottleDrop::task_main()
// Compute flight vector
map_projection_reproject(&ref, x_drop + 2 * turn_radius * wind_direction_n, y_drop + 2 * turn_radius * wind_direction_n,
&(flight_vector_s.lat), &(flight_vector_s.lon));
flight_vector_s.altitude = height;
flight_vector_s.altitude = _drop_position.alt + _alt_clearance;
map_projection_reproject(&ref, x_drop - turn_radius * wind_direction_e, y_drop - turn_radius * wind_direction_e,
&flight_vector_e.lat, &flight_vector_e.lon);
flight_vector_e.altitude = height;
flight_vector_e.altitude = _drop_position.alt + _alt_clearance;
//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
@ -591,8 +595,8 @@ BottleDrop::task_main()
distance_real = fabsf(get_distance_to_next_waypoint(latitude, longitude, _drop_position.lat, _drop_position.lon));
map_projection_project(&ref, latitude, longitude, &x_l, &y_l);
x_f = x_l + globalpos.vel_n * dt2;
y_f = y_l + globalpos.vel_e * dt2;
x_f = x_l + _global_pos.vel_n * dt_runs;
y_f = y_l + _global_pos.vel_e * dt_runs;
map_projection_reproject(&ref, x_f, y_f, &x_f_NED, &y_f_NED);
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
@ -627,7 +631,7 @@ BottleDrop::task_main()
if (counter % 10 == 0)
warnx("Distance real: %.2f, distance_open_door: %.2f, angle to wind: %.2f", (double)distance_real,
(double)distance_open_door,
(double)(_wrap_pi(globalpos.yaw - atan2f(wind.windspeed_north, wind.windspeed_east))));
(double)(_wrap_pi(_global_pos.yaw - atan2f(wind.windspeed_north, wind.windspeed_east))));
if (onboard_mission_pub > 0) {
orb_publish(ORB_ID(onboard_mission), onboard_mission_pub, &onboard_mission);
@ -638,7 +642,7 @@ BottleDrop::task_main()
}
if (isfinite(distance_real) && distance_real < distance_open_door && drop_approval) {
if (isfinite(distance_real) && distance_real < distance_open_door && _drop_approval) {
open_bay();
} else {
close_bay();
@ -647,7 +651,7 @@ BottleDrop::task_main()
if (isfinite(distance_real) && distance_real < precision && distance_real < future_distance) { // Drop only if the distance between drop point and actual position is getting larger again
// XXX this check needs to be carefully validated - right now we prefer to drop if we're close to the goal
// if(fabsf(_wrap_pi(globalpos.yaw-atan2f(wind.windspeed_north,wind_speed.windspeed_east)+M_PI_F)) < 80.0f/180.0f*M_PI_F) // if flight trajectory deviates more than 80 degrees from calculated path, it will no drop
// if(fabsf(_wrap_pi(_global_pos.yaw-atan2f(wind.windspeed_north,wind_speed.windspeed_east)+M_PI_F)) < 80.0f/180.0f*M_PI_F) // if flight trajectory deviates more than 80 degrees from calculated path, it will no drop
// {
drop();
// }
@ -662,7 +666,10 @@ BottleDrop::task_main()
// update_actuators();
// run at roughly 100 Hz
usleep(1000);
usleep(sleeptime_us);
dt_runs = 1e6f / hrt_elapsed_time(&last_run);
last_run = hrt_absolute_time();
}
}
@ -706,37 +713,41 @@ BottleDrop::handle_command(struct vehicle_command_s *cmd)
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
drop_approval = false;
_drop_approval = false;
break;
case 1:
drop_approval = true;
_drop_approval = true;
break;
default:
drop_approval = false;
_drop_approval = false;
warnx("param1 val unknown");
break;
}
// XXX check all fields
// XXX check all fields (2-3)
_alt_clearance = cmd->param4;
_target_position.lat = cmd->param5;
_target_position.lon = cmd->param6;
_target_position.alt = cmd->param7;
_target_position.initialized;
map_projection_init(&ref, _target_position.lat, _target_position.lon);
answer_command(cmd, VEHICLE_CMD_RESULT_ACCEPTED);
break;
case VEHICLE_CMD_PAYLOAD_CONTROL_DEPLOY:
switch ((int)(cmd->param1 + 0.5f)) {
case 0:
drop_approval = false;
_drop_approval = false;
break;
case 1:
drop_approval = true;
_drop_approval = true;
break;
default:
drop_approval = false;
_drop_approval = false;
break;
// XXX handle other values
}

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@ -41,8 +41,6 @@
#include <nuttx/config.h>
#include <systemlib/param/param.h>
PARAM_DEFINE_FLOAT(BD_HEIGHT, 60.0f);
PARAM_DEFINE_FLOAT(BD_GPROPERTIES, 0.03f);
PARAM_DEFINE_FLOAT(BD_TURNRADIUS, 70.0f);
PARAM_DEFINE_FLOAT(BD_TURNRADIUS, 90.0f);
PARAM_DEFINE_FLOAT(BD_PRECISION, 1.0f);
PARAM_DEFINE_INT32(BD_APPROVAL, 0);