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FlightTaskAuto: comments refactor

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent c01fab089a
commit 19743bcaec
4 changed files with 114 additions and 131 deletions
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src/lib/FlightTasks/tasks/FlightTaskAutoLine.cpp
+86 -95
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@@ -69,15 +69,15 @@ bool FlightTaskAutoLine::update()
bool follow_line = _type == WaypointType::loiter || _type == WaypointType::position;
bool follow_line_prev = _type_previous == WaypointType::loiter || _type_previous == WaypointType::position;
/* 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state. */
// 1st time that vehicle starts to follow line. Reset all setpoints to current vehicle state.
if (follow_line && !follow_line_prev) {
_reset();
}
/* The only time a thrust setpoint is sent out is during
* idle. Hence, reset thrust setpoint to NAN in case the
* vehicle exits idle.
*/
// The only time a thrust set-point is sent out is during
// idle. Hence, reset thrust set-point to NAN in case the
// vehicle exits idle.
if (_type_previous == WaypointType::idle) {
_thrust_setpoint = Vector3f(NAN, NAN, NAN);
}
@@ -98,13 +98,13 @@ bool FlightTaskAutoLine::update()
_generateVelocitySetpoints();
}
/* For now yaw setpoint comes directly form triplets.
* TODO: In the future, however, yaw should be set in this
* task based on flag: yaw along path, yaw based on gimbal, yaw
* same as home yaw ... */
// For now yaw-setpoint comes directly form triplets.
// TODO: In the future, however, yaw should be set in this
// task based on flag: yaw along path, yaw based on gimbal, yaw
// same as home yaw ...
_yaw_setpoint = _yaw_wp;
/* Update previous type */
// update previous type
_type_previous = _type;
return true;
@@ -112,7 +112,7 @@ bool FlightTaskAutoLine::update()
void FlightTaskAutoLine::_reset()
{
/* Set setpoints equal current state. */
// Set setpoints equal current state.
_velocity_setpoint = _velocity;
_position_setpoint = _position;
_destination = _target;
@@ -122,7 +122,7 @@ void FlightTaskAutoLine::_reset()
void FlightTaskAutoLine::_generateIdleSetpoints()
{
/* Send zero thrust setpoint */
// Send zero thrust setpoint */
_position_setpoint = Vector3f(NAN, NAN, NAN); // Don't require any position/velocity setpoints
_velocity_setpoint = Vector3f(NAN, NAN, NAN);
_thrust_setpoint.zero();
@@ -130,22 +130,22 @@ void FlightTaskAutoLine::_generateIdleSetpoints()
void FlightTaskAutoLine::_generateLandSetpoints()
{
/* Keep xy-position and go down with landspeed. */
// Keep xy-position and go down with landspeed. */
_position_setpoint = Vector3f(_target(0), _target(1), NAN);
_velocity_setpoint = Vector3f(Vector3f(NAN, NAN, _land_speed.get()));
}
void FlightTaskAutoLine::_generateTakeoffSetpoints()
{
/* Takeoff is completely defined by target position. */
// Takeoff is completely defined by target position. */
_position_setpoint = _target;
_velocity_setpoint = Vector3f(NAN, NAN, NAN);
}
void FlightTaskAutoLine::_generateVelocitySetpoints()
{
/* TODO: Remove velocity force logic from navigator, since
* navigator should only send out waypoints. */
// TODO: Remove velocity force logic from navigator, since
// navigator should only send out waypoints.
_position_setpoint = Vector3f(NAN, NAN, _position(2));
Vector2f vel_sp_xy = Vector2f(&_velocity(0)).unit_or_zero() * _mc_cruise_speed;
_velocity_setpoint = Vector3f(vel_sp_xy(0), vel_sp_xy(1), NAN);
@@ -160,15 +160,14 @@ void FlightTaskAutoLine::_generateSetpoints()
void FlightTaskAutoLine::_updateInternalWaypoints()
{
/* The internal Waypoints might differ from previous_wp and target. The cases where it differs:
* 1. The vehicle already passed the target -> go straight to target
* 2. The vehicle is more than cruise speed in front of previous waypoint -> go straight to previous waypoint
* 3. The vehicle is more than cruise speed from track -> go straight to closest point on track
*
* If a new target is available, then the speed at the target is computed from the angle previous-target-next
*/
// The internal Waypoints might differ from previous_wp and target. The cases where it differs:
// 1. The vehicle already passed the target -> go straight to target
// 2. The vehicle is more than cruise speed in front of previous waypoint -> go straight to previous waypoint
// 3. The vehicle is more than cruise speed from track -> go straight to closest point on track
//
// If a new target is available, then the speed at the target is computed from the angle previous-target-next.
/* Adjust destination and origin based on current vehicle state. */
// Adjust destination and origin based on current vehicle state.
Vector2f u_prev_to_target = Vector2f(&(_target - _prev_wp)(0)).unit_or_zero();
Vector2f pos_to_target = Vector2f(&(_target - _position)(0));
Vector2f prev_to_pos = Vector2f(&(_position - _prev_wp)(0));
@@ -176,7 +175,7 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
if (u_prev_to_target * pos_to_target < 0.0f) {
/* Target is behind. */
// Target is behind. */
if (_current_state != State::target_behind) {
_destination = _target;
@@ -186,8 +185,8 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
float angle = 2.0f;
_speed_at_target = 0.0f;
/* angle = cos(x) + 1.0
* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
// angle = cos(x) + 1.0
// angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0
if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
@@ -201,7 +200,7 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
} else if (u_prev_to_target * prev_to_pos < 0.0f && prev_to_pos.length() > _mc_cruise_speed) {
/* Current position is more than cruise speed in front of previous setpoint. */
// Current position is more than cruise speed in front of previous setpoint.
if (_current_state != State::previous_infront) {
_destination = _prev_wp;
_origin = _position;
@@ -210,8 +209,8 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
float angle = 2.0f;
_speed_at_target = 0.0f;
/* angle = cos(x) + 1.0
* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
// angle = cos(x) + 1.0
// angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0
if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
@@ -225,7 +224,7 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
} else if (Vector2f(Vector2f(&_position(0)) - closest_pt).length() > _mc_cruise_speed) {
/* Vehicle is more than cruise speed off track. */
// Vehicle is more than cruise speed off track.
if (_current_state != State::offtrack) {
_destination = matrix::Vector3f(closest_pt(0), closest_pt(1), _target(2));
_origin = _position;
@@ -234,8 +233,8 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
float angle = 2.0f;
_speed_at_target = 0.0f;
/* angle = cos(x) + 1.0
* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
// angle = cos(x) + 1.0
// angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0
if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
@@ -250,7 +249,7 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
} else {
if ((_target - _destination).length() > 0.01f) {
/* A new target is available. Update speed at target.*/
// A new target is available. Update speed at target.*/
_destination = _target;
_origin = _prev_wp;
_current_state = State::none;
@@ -258,8 +257,8 @@ void FlightTaskAutoLine::_updateInternalWaypoints()
float angle = 2.0f;
_speed_at_target = 0.0f;
/* angle = cos(x) + 1.0
* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
// angle = cos(x) + 1.0
// angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0
if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
@@ -281,14 +280,14 @@ void FlightTaskAutoLine::_generateXYsetpoints()
if ((_speed_at_target < 0.001f && pos_sp_to_dest.length() < _nav_rad.get()) ||
(!has_reached_altitude && pos_sp_to_dest.length() < _nav_rad.get())) {
/* Vehicle reached target in xy and no passing required. Lock position */
// Vehicle reached target in xy and no passing required. Lock position */
_position_setpoint(0) = _destination(0);
_position_setpoint(1) = _destination(1);
_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
} else {
/* Get various path specific vectors. */
// Get various path specific vectors. */
Vector2f u_prev_to_dest = Vector2f(&(_destination - _origin)(0)).unit_or_zero();
Vector2f prev_to_pos(&(_position - _origin)(0));
Vector2f closest_pt = Vector2f(&_origin(0)) + u_prev_to_dest * (prev_to_pos * u_prev_to_dest);
@@ -297,45 +296,43 @@ void FlightTaskAutoLine::_generateXYsetpoints()
float speed_sp_track = _mc_cruise_speed;
float speed_sp_prev_track = math::max(Vector2f(&_velocity_setpoint(0)) * u_prev_to_dest, 0.0f);
/* Distance to target when brake should occur. The assumption is made that
* 1.5 * cruising speed is enough to break. */
// Distance to target when brake should occur. The assumption is made that
// 1.5 * cruising speed is enough to break.
float target_threshold = 1.5f * _mc_cruise_speed;
float speed_threshold = _mc_cruise_speed;
const float threshold_max = target_threshold;
if (target_threshold > 0.5f * prev_to_dest.length()) {
/* Target threshold cannot be more than distance from previous to target */
// Target threshold cannot be more than distance from previous to target
target_threshold = 0.5f * prev_to_dest.length();
}
/* Compute maximum speed at target threshold */
// Compute maximum speed at target threshold */
if (threshold_max > _nav_rad.get()) {
float m = (_mc_cruise_speed - _speed_at_target) / (threshold_max - _nav_rad.get());
speed_threshold = m * (target_threshold - _nav_rad.get()) + _speed_at_target; // speed at transition
}
/* Either accelerate or decelerate */
// Either accelerate or decelerate
if (closest_to_dest.length() < target_threshold) {
/* Vehicle is close to destination. Start to decelerate */
// Vehicle is close to destination. Start to decelerate
if (!has_reached_altitude) {
/* Altitude is not reached yet. Vehicle has to stop first before proceeding */
// Altitude is not reached yet. Vehicle has to stop first before proceeding
_speed_at_target = 0.0f;
}
float acceptance_radius = _nav_rad.get();
if (_speed_at_target < 0.01f) {
/* If vehicle wants to stop at the target, then set acceptance radius
* to zero as well.
*/
// If vehicle wants to stop at the target, then set acceptance radius to zero as well.
acceptance_radius = 0.0f;
}
if ((target_threshold - acceptance_radius) >= SIGMA_NORM) {
/* Slow down depending on distance to target minus acceptance radius */
// Slow down depending on distance to target minus acceptance radius.
float m = (speed_threshold - _speed_at_target) / (target_threshold - acceptance_radius);
speed_sp_track = m * (closest_to_dest.length() - acceptance_radius) + _speed_at_target; // speed at transition
@@ -343,10 +340,9 @@ void FlightTaskAutoLine::_generateXYsetpoints()
speed_sp_track = _speed_at_target;
}
/* If we are close to target and the previous speed setpoint along track was smaller than
* current speed setpoint along track, then take over the previous one.
* This ensures smoothness since we anyway want to slow down.
*/
// If we are close to target and the previous speed setpoint along track was smaller than
// current speed setpoint along track, then take over the previous one.
// This ensures smoothness since we anyway want to slow down.
if ((speed_sp_prev_track < speed_sp_track)
&& (speed_sp_track * speed_sp_prev_track > 0.0f)
&& (speed_sp_prev_track > _speed_at_target)) {
@@ -355,7 +351,7 @@ void FlightTaskAutoLine::_generateXYsetpoints()
} else {
/* Vehicle is still far from destination. Accelerate or keep maximum target speed. */
// Vehicle is still far from destination. Accelerate or keep maximum target speed.
float acc_track = (speed_sp_track - speed_sp_prev_track) / _deltatime;
float yaw_diff = 0.0f;
@@ -364,11 +360,11 @@ void FlightTaskAutoLine::_generateXYsetpoints()
yaw_diff = _wrap_pi(_yaw_wp - _yaw);
}
/* If yaw offset is large, only accelerate with 0.5 m/s^2. */
// If yaw offset is large, only accelerate with 0.5 m/s^2.
float acc_max = (fabsf(yaw_diff) > math::radians(_mis_yaw_error.get())) ? 0.5f : _acc_xy.get();
if (acc_track > acc_max) {
/* Accelerate towards target */
// accelerate towards target
speed_sp_track = acc_max * _deltatime + speed_sp_prev_track;
}
}
@@ -385,50 +381,48 @@ void FlightTaskAutoLine::_generateXYsetpoints()
void FlightTaskAutoLine::_generateAltitudeSetpoints()
{
/* Total distance between previous and target setpoint */
// Total distance between previous and target set-point.
const float dist = fabsf(_destination(2) - _origin(2));
/* If target has not been reached, then compute setpoint depending on maximum velocity */
// If target has not been reached, then compute set-point depending on maximum velocity.
if ((dist > SIGMA_NORM) && (fabsf(_position(2) - _destination(2)) > 0.1f)) {
/* get various distances */
// get various distances */
const float dist_to_prev = fabsf(_position(2) - _origin(2));
const float dist_to_target = fabsf(_destination(2) - _position(2));
/* check sign */
// check sign
const bool flying_upward = _destination(2) < _position(2);
/* Speed at threshold is by default maximum speed. Threshold defines
* the point in z at which vehicle slows down to reach target altitude. */
// Speed at threshold is by default maximum speed. Threshold defines
// the point in z at which vehicle slows down to reach target altitude.
float speed_sp = (flying_upward) ? _vel_max_up.get() : _vel_max_down.get();
/* target threshold defines the distance to target(2) at which
* the vehicle starts to slow down to approach the target smoothly */
// Target threshold defines the distance to target(2) at which
// the vehicle starts to slow down to approach the target smoothly.
float target_threshold = speed_sp * 1.5f;
/* If the total distance in z is NOT 2x distance of target_threshold, we
* will need to adjust the final_velocity in z */
// If the total distance in z is NOT 2x distance of target_threshold, we
// will need to adjust the final_velocity in z.
const bool is_2_target_threshold = dist >= 2.0f * target_threshold;
const float min_vel = 0.2f; // minimum velocity: this is needed since estimation is not perfect
const float slope = (speed_sp - min_vel) / (target_threshold); /* defines the the acceleration when slowing down */
const float slope = (speed_sp - min_vel) / (target_threshold); // defines the the acceleration when slowing down */
if (!is_2_target_threshold) {
/* adjust final_velocity since we are already are close
* to target and therefore it is not necessary to accelerate
* up to full speed
*/
// Adjust final_velocity since we are already are close to target and therefore it is not necessary to accelerate
// upwards with full speed.
target_threshold = dist * 0.5f;
/* get the velocity at target_threshold */
// get the velocity at target_threshold
speed_sp = slope * (target_threshold) + min_vel;
}
/* we want to slow down */
// we want to slow down
if (dist_to_target < target_threshold) {
speed_sp = slope * dist_to_target + min_vel;
} else if (dist_to_prev < target_threshold) {
/* we want to accelerate */
// we want to accelerate
const float acc = (speed_sp - fabsf(_velocity_setpoint(2))) / _deltatime;
const float acc_max = (flying_upward) ? (_acc_max_up.get() * 0.5f) : (_acc_max_down.get() * 0.5f);
@@ -438,19 +432,19 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
}
}
/* make sure vel_sp_z is always positive */
// make sure vel_sp_z is always positive
if (speed_sp < 0.0f) {
PX4_WARN("speed cannot be smaller than 0");
speed_sp = 0.0f;
}
/* get the sign of vel_sp_z */
// get the sign of vel_sp_z
_velocity_setpoint(2) = (flying_upward) ? -speed_sp : speed_sp;
_position_setpoint(2) = NAN; // We don't care about position setpoint */
_position_setpoint(2) = NAN; // We don't care about position setpoint
} else {
/* Vehicle reached desired target altitude */
// vehicle reached desired target altitude
_velocity_setpoint(2) = 0.0f;
_position_setpoint(2) = _target(2);
}
@@ -458,16 +452,16 @@ void FlightTaskAutoLine::_generateAltitudeSetpoints()
float FlightTaskAutoLine::_getVelocityFromAngle(const float angle)
{
/* Minimum cruise speed when passing waypoint */
// minimum cruise speed when passing waypoint
float min_cruise_speed = 0.0f;
/* Make sure that cruise speed is larger than minimum*/
// make sure that cruise speed is larger than minimum
if ((_mc_cruise_speed - min_cruise_speed) < SIGMA_NORM) {
return _mc_cruise_speed;
}
/* Middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle of 90degrees.
* It needs to be always larger than minimum cruise speed. */
// Middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle of 90degrees.
// It needs to be always larger than minimum cruise speed.
float middle_cruise_speed = _cruise_speed_90.get();
if ((middle_cruise_speed - min_cruise_speed) < SIGMA_NORM) {
@@ -478,34 +472,31 @@ float FlightTaskAutoLine::_getVelocityFromAngle(const float angle)
middle_cruise_speed = (_mc_cruise_speed + min_cruise_speed) * 0.5f;
}
/* If middle cruise speed is exactly in the middle, then compute
* speed linearly
*/
// If middle cruise speed is exactly in the middle, then compute speed linearly.
bool use_linear_approach = false;
if (((_mc_cruise_speed + min_cruise_speed) * 0.5f) - middle_cruise_speed < SIGMA_NORM) {
use_linear_approach = true;
}
/* Compute speed sp at target */
// compute speed sp at target
float speed_close;
if (use_linear_approach) {
/* velocity close to target adjusted to angle
* vel_close = m*x+q
*/
// velocity close to target adjusted to angle:
// vel_close = m*x+q
float slope = -(_mc_cruise_speed - min_cruise_speed) / 2.0f;
speed_close = slope * angle + _mc_cruise_speed;
} else {
/* Speed close to target adjusted to angle x.
* speed_close = a *b ^x + c; where at angle x = 0 -> speed_close = cruise; angle x = 1 -> speed_close = middle_cruise_speed (this means that at 90degrees
* the velocity at target is middle_cruise_speed);
* angle x = 2 -> speed_close = min_cruising_speed */
// Speed close to target adjusted to angle x.
// speed_close = a *b ^x + c; where at angle x = 0 -> speed_close = cruise; angle x = 1 -> speed_close = middle_cruise_speed (this means that at 90degrees
// the velocity at target is middle_cruise_speed);
// angle x = 2 -> speed_close = min_cruising_speed
/* from maximum cruise speed, minimum cruise speed and middle cruise speed compute constants a, b and c */
// from maximum cruise speed, minimum cruise speed and middle cruise speed compute constants a, b and c
float a = -((middle_cruise_speed - _mc_cruise_speed) * (middle_cruise_speed - _mc_cruise_speed))
/ (2.0f * middle_cruise_speed - _mc_cruise_speed - min_cruise_speed);
float c = _mc_cruise_speed - a;
@@ -513,6 +504,6 @@ float FlightTaskAutoLine::_getVelocityFromAngle(const float angle)
speed_close = a * powf(b, angle) + c;
}
/* speed_close needs to be in between max and min */
// speed_close needs to be in between max and min
return math::constrain(speed_close, min_cruise_speed, _mc_cruise_speed);
}