fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-18 06:47:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

More user feedback on approach angle and approach error. Fix check for approach error

Browse Source
This commit is contained in:
Lorenz Meier
2014-09-06 11:39:56 +02:00
parent 960587b10f
commit 3834796ce9
1 changed files with 18 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/bottle_drop/bottle_drop.cpp
+18 -9
View File
@@ -384,6 +384,7 @@ BottleDrop::task_main()
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 approach_error = 0.0f; // The error in radians between current ground vector and desired ground vector
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]
@@ -505,11 +506,21 @@ BottleDrop::task_main()
float windspeed_norm = sqrtf(wind.windspeed_north * wind.windspeed_north + wind.windspeed_east * wind.windspeed_east);
float groundspeed_body = sqrtf(_global_pos.vel_n * _global_pos.vel_n + _global_pos.vel_e * _global_pos.vel_e);
distance_real = fabsf(get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, _drop_position.lat, _drop_position.lon));
ground_distance = _global_pos.alt - _target_position.alt;
if (counter % 90 == 0) {
mavlink_log_info(_mavlink_fd, "#audio: drop distance %.2f", (double)distance_real);
// Distance to drop position and angle error to approach vector
// are relevant in all states greater than target valid (which calculates these positions)
if (_drop_state > DROP_STATE_TARGET_VALID) {
distance_real = fabsf(get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon, _drop_position.lat, _drop_position.lon));
float ground_direction = atan2f(_global_pos.vel_e, _global_pos.vel_n);
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
approach_error = _wrap_pi(ground_direction - approach_direction);
if (counter % 90 == 0) {
mavlink_log_critical(_mavlink_fd, "drop distance %u, heading: %u", (unsigned)distance_real, (unsigned)math::degrees(approach_error));
}
}
switch (_drop_state) {
@@ -612,6 +623,9 @@ BottleDrop::task_main()
_onboard_mission_pub = orb_advertise(ORB_ID(onboard_mission), &_onboard_mission);
}
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
mavlink_log_critical(_mavlink_fd, "position set, approach heading: %u", (unsigned)distance_real, (unsigned)math::degrees(approach_direction + M_PI_F));
_drop_state = DROP_STATE_TARGET_SET;
}
break;
@@ -628,13 +642,8 @@ BottleDrop::task_main()
// We're close enough - open the bay
distance_open_door = math::max(10.0f, 3.0f * fabsf(t_door * groundspeed_body));
float ground_direction = atan2f(_global_pos.vel_e, _global_pos.vel_n);
float approach_direction = get_bearing_to_next_waypoint(flight_vector_s.lat, flight_vector_s.lon, flight_vector_e.lat, flight_vector_e.lon);
float approach_error = math::wrap_pi(ground_direction - approach_direction);
if (isfinite(distance_real) && distance_real < distance_open_door &&
approach_error < math::radians(20.0f)) {
fabsf(approach_error) < math::radians(20.0f)) {
open_bay();
_drop_state = DROP_STATE_BAY_OPEN;
mavlink_log_info(_mavlink_fd, "#audio: opening bay");