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position_setpoint: replaced loiter_direction integer by boolean (#20317)

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* position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2022-09-29 11:06:10 +02:00
committed by GitHub
parent 5d39fdba6d
commit 20457c5e2e
9 changed files with 36 additions and 36 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+6 -8
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@@ -1303,11 +1303,9 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
/* waypoint is a loiter waypoint */
float loiter_radius = pos_sp_curr.loiter_radius;
uint8_t loiter_direction = pos_sp_curr.loiter_direction;
if (fabsf(pos_sp_curr.loiter_radius) < FLT_EPSILON) {
loiter_radius = _param_nav_loiter_rad.get();
loiter_direction = signNoZero(loiter_radius);
}
const bool in_circle_mode = (_param_fw_use_npfg.get()) ? _npfg.circleMode() : _l1_control.circle_mode();
@@ -1336,13 +1334,15 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, loiter_direction, get_nav_speed_2d(ground_speed),
_npfg.navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise,
get_nav_speed_2d(ground_speed),
_wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
} else {
_l1_control.navigate_loiter(curr_wp_local, curr_pos_local, loiter_radius, loiter_direction,
_l1_control.navigate_loiter(curr_wp_local, curr_pos_local, loiter_radius,
pos_sp_curr.loiter_direction_counter_clockwise,
get_nav_speed_2d(ground_speed));
_att_sp.roll_body = _l1_control.get_roll_setpoint();
}
@@ -2739,15 +2739,13 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
{
orbit_status_s orbit_status{};
orbit_status.timestamp = hrt_absolute_time();
float loiter_radius = pos_sp.loiter_radius;
int8_t loiter_direction = pos_sp.loiter_direction;
float loiter_radius = pos_sp.loiter_radius * (pos_sp.loiter_direction_counter_clockwise ? -1.f : 1.f);
if (fabsf(loiter_radius) < FLT_EPSILON) {
loiter_radius = _param_nav_loiter_rad.get();
loiter_direction = signNoZero(loiter_radius);
}
orbit_status.radius = static_cast<float>(loiter_direction) * loiter_radius;
orbit_status.radius = loiter_radius;
orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL
orbit_status.x = static_cast<double>(pos_sp.lat);
orbit_status.y = static_cast<double>(pos_sp.lon);
src/modules/navigator/mission.cpp
+1 -1
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@@ -1893,7 +1893,7 @@ bool Mission::position_setpoint_equal(const position_setpoint_s *p1, const posit
(fabsf(p1->yawspeed - p2->yawspeed) < FLT_EPSILON) &&
(p1->yawspeed_valid == p2->yawspeed_valid) &&
(fabsf(p1->loiter_radius - p2->loiter_radius) < FLT_EPSILON) &&
(p1->loiter_direction == p2->loiter_direction) &&
(p1->loiter_direction_counter_clockwise == p2->loiter_direction_counter_clockwise) &&
(fabsf(p1->acceptance_radius - p2->acceptance_radius) < FLT_EPSILON) &&
(fabsf(p1->cruising_speed - p2->cruising_speed) < FLT_EPSILON) &&
((fabsf(p1->cruising_throttle - p2->cruising_throttle) < FLT_EPSILON) || (!PX4_ISFINITE(p1->cruising_throttle)
src/modules/navigator/mission_block.cpp
+4 -4
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@@ -519,11 +519,11 @@ MissionBlock::is_mission_item_reached_or_completed()
float inner_angle = acosf(ratio);
// Compute "ideal" tangent origin
if (curr_sp.loiter_direction > 0) {
bearing -= inner_angle;
if (curr_sp.loiter_direction_counter_clockwise) {
bearing += inner_angle;
} else {
bearing += inner_angle;
bearing -= inner_angle;
}
// set typ to position, will get set to loiter in the fw position controller once close
@@ -687,7 +687,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
sp->yaw_valid = PX4_ISFINITE(item.yaw);
sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) :
_navigator->get_loiter_radius();
sp->loiter_direction = math::signNoZero(item.loiter_radius);
sp->loiter_direction_counter_clockwise = item.loiter_radius < 0;
if (item.acceptance_radius > 0.001f && PX4_ISFINITE(item.acceptance_radius)) {
// if the mission item has a specified acceptance radius, overwrite the default one from parameters
src/modules/navigator/navigator_main.cpp
+5 -10
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@@ -342,12 +342,7 @@ void Navigator::run()
rep->current.loiter_radius = get_loiter_radius();
}
if (curr->current.loiter_direction == 1 || curr->current.loiter_direction == -1) {
rep->current.loiter_direction = curr->current.loiter_direction;
} else {
rep->current.loiter_direction = 1;
}
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
}
rep->previous.timestamp = hrt_absolute_time();
@@ -385,12 +380,12 @@ void Navigator::run()
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.loiter_direction_counter_clockwise = false;
rep->current.cruising_throttle = get_cruising_throttle();
if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction = math::signNoZero(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0;
}
rep->current.lat = position_setpoint.lat;
@@ -414,7 +409,7 @@ void Navigator::run()
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.loiter_direction_counter_clockwise = false;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
if (home_global_position_valid()) {
@@ -918,7 +913,6 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
rep->current.loiter_radius = get_loiter_radius();
rep->current.alt_valid = true;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_direction = 1;
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.cruising_speed = get_cruising_speed();
@@ -1077,6 +1071,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
sp.valid = false;
sp.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
sp.disable_weather_vane = false;
sp.loiter_direction_counter_clockwise = false;
}
float Navigator::get_cruising_throttle()