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L1 position controller: use double precision floating point for all lat/lon

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This commit is contained in:
Daniel Agar
2021-02-12 21:59:56 +01:00
committed by Lorenz Meier
parent 31a6edff07
commit 1981519aad
9 changed files with 102 additions and 95 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+44 -30
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@@ -35,6 +35,19 @@
#include <vtol_att_control/vtol_type.h>
using math::constrain;
using math::max;
using math::min;
using math::radians;
using matrix::Dcmf;
using matrix::Eulerf;
using matrix::Quatf;
using matrix::Vector2f;
using matrix::Vector2d;
using matrix::Vector3f;
using matrix::wrap_pi;
FixedwingPositionControl::FixedwingPositionControl(bool vtol) :
ModuleParams(nullptr),
WorkItem(MODULE_NAME, px4::wq_configurations::nav_and_controllers),
@@ -587,7 +600,7 @@ FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitch_lim
}
bool
FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2f &curr_pos,
FixedwingPositionControl::control_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, const position_setpoint_s &pos_sp_next)
{
@@ -662,8 +675,8 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
_tecs.set_speed_weight(_param_fw_t_spdweight.get());
_tecs.set_height_error_time_constant(_param_fw_t_h_error_tc.get());
Vector2f curr_wp{0.0f, 0.0f};
Vector2f prev_wp{0.0f, 0.0f};
Vector2d curr_wp{0, 0};
Vector2d prev_wp{0, 0};
if (_vehicle_status.in_transition_to_fw) {
@@ -674,8 +687,8 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
waypoint_from_heading_and_distance(_current_latitude, _current_longitude, _yaw, HDG_HOLD_DIST_NEXT, &lat_transition,
&lon_transition);
_transition_waypoint(0) = (float)lat_transition;
_transition_waypoint(1) = (float)lon_transition;
_transition_waypoint(0) = lat_transition;
_transition_waypoint(1) = lon_transition;
}
@@ -683,24 +696,25 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
} else {
/* current waypoint (the one currently heading for) */
curr_wp = Vector2f((float)pos_sp_curr.lat, (float)pos_sp_curr.lon);
curr_wp = Vector2d(pos_sp_curr.lat, pos_sp_curr.lon);
if (pos_sp_prev.valid) {
prev_wp(0) = (float)pos_sp_prev.lat;
prev_wp(1) = (float)pos_sp_prev.lon;
prev_wp(0) = pos_sp_prev.lat;
prev_wp(1) = pos_sp_prev.lon;
} else {
/*
* No valid previous waypoint, go for the current wp.
* This is automatically handled by the L1 library.
*/
prev_wp(0) = (float)pos_sp_curr.lat;
prev_wp(1) = (float)pos_sp_curr.lon;
prev_wp(0) = pos_sp_curr.lat;
prev_wp(1) = pos_sp_curr.lon;
}
/* reset transition waypoint, will be set upon entering front transition */
_transition_waypoint.setNaN();
_transition_waypoint(0) = static_cast<double>(NAN);
_transition_waypoint(1) = static_cast<double>(NAN);
}
/* Initialize attitude controller integrator reset flags to 0 */
@@ -1007,8 +1021,8 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
get_waypoint_heading_distance(_hdg_hold_yaw, _hdg_hold_prev_wp, _hdg_hold_curr_wp, false);
}
Vector2f prev_wp{(float)_hdg_hold_prev_wp.lat, (float)_hdg_hold_prev_wp.lon};
Vector2f curr_wp{(float)_hdg_hold_curr_wp.lat, (float)_hdg_hold_curr_wp.lon};
Vector2d prev_wp{_hdg_hold_prev_wp.lat, _hdg_hold_prev_wp.lon};
Vector2d curr_wp{_hdg_hold_curr_wp.lat, _hdg_hold_curr_wp.lon};
/* populate l1 control setpoint */
_l1_control.navigate_waypoints(prev_wp, curr_wp, curr_pos, ground_speed);
@@ -1157,24 +1171,24 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
}
void
FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2f &curr_pos,
FixedwingPositionControl::control_takeoff(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)
{
/* current waypoint (the one currently heading for) */
Vector2f curr_wp((float)pos_sp_curr.lat, (float)pos_sp_curr.lon);
Vector2f prev_wp{0.0f, 0.0f}; /* previous waypoint */
Vector2d curr_wp(pos_sp_curr.lat, pos_sp_curr.lon);
Vector2d prev_wp{0, 0}; /* previous waypoint */
if (pos_sp_prev.valid) {
prev_wp(0) = (float)pos_sp_prev.lat;
prev_wp(1) = (float)pos_sp_prev.lon;
prev_wp(0) = pos_sp_prev.lat;
prev_wp(1) = pos_sp_prev.lon;
} else {
/*
* No valid previous waypoint, go for the current wp.
* This is automatically handled by the L1 library.
*/
prev_wp(0) = (float)pos_sp_curr.lat;
prev_wp(1) = (float)pos_sp_curr.lon;
prev_wp(0) = pos_sp_curr.lat;
prev_wp(1) = pos_sp_curr.lon;
}
// apply flaps for takeoff according to the corresponding scale factor set
@@ -1326,24 +1340,24 @@ FixedwingPositionControl::control_takeoff(const hrt_abstime &now, const Vector2f
}
void
FixedwingPositionControl::control_landing(const hrt_abstime &now, const Vector2f &curr_pos,
FixedwingPositionControl::control_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)
{
/* current waypoint (the one currently heading for) */
Vector2f curr_wp((float)pos_sp_curr.lat, (float)pos_sp_curr.lon);
Vector2f prev_wp{0.0f, 0.0f}; /* previous waypoint */
Vector2d curr_wp(pos_sp_curr.lat, pos_sp_curr.lon);
Vector2d prev_wp{0, 0}; /* previous waypoint */
if (pos_sp_prev.valid) {
prev_wp(0) = (float)pos_sp_prev.lat;
prev_wp(1) = (float)pos_sp_prev.lon;
prev_wp(0) = pos_sp_prev.lat;
prev_wp(1) = pos_sp_prev.lon;
} else {
/*
* No valid previous waypoint, go for the current wp.
* This is automatically handled by the L1 library.
*/
prev_wp(0) = (float)pos_sp_curr.lat;
prev_wp(1) = (float)pos_sp_curr.lon;
prev_wp(0) = pos_sp_curr.lat;
prev_wp(1) = pos_sp_curr.lon;
}
// apply full flaps for landings. this flag will also trigger the use of flaperons
@@ -1392,8 +1406,8 @@ FixedwingPositionControl::control_landing(const hrt_abstime &now, const Vector2f
create_waypoint_from_line_and_dist(pos_sp_curr.lat, pos_sp_curr.lon,
pos_sp_prev.lat, pos_sp_prev.lon, -1000.0f, &lat, &lon);
curr_wp(0) = (float)lat;
curr_wp(1) = (float)lon;
curr_wp(0) = lat;
curr_wp(1) = lon;
}
// we want the plane to keep tracking the desired flight path until we start flaring
@@ -1693,7 +1707,7 @@ FixedwingPositionControl::Run()
_vehicle_status_sub.update(&_vehicle_status);
Vector2f curr_pos((float)_current_latitude, (float)_current_longitude);
Vector2d curr_pos(_current_latitude, _current_longitude);
Vector2f ground_speed(_local_pos.vx, _local_pos.vy);
//Convert Local setpoints to global setpoints