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more clean up

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This commit is contained in:
Jimmy Johnson
2016-03-27 12:10:57 +02:00
committed by Lorenz Meier
parent 8829db8844
commit 515882ac0e
2 changed files with 65 additions and 64 deletions
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src/modules/navigator/follow_target.cpp
+48 -46
View File
@@ -53,21 +53,22 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/follow_target.h>
#include <lib/geo/geo.h>
#include "navigator.h"
FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_navigator(navigator),
_param_min_alt(this, "MIS_TAKEOFF_ALT", false),
_current_target_state(ACSEND),
_target_motion_position_sub(-1),
_follow_target_state(ACSEND),
_follow_target_sub(-1),
_step_time_in_ms(0.0f),
_previous_target_gps_pos_valid(false),
_radius_entered(false),
_radius_exited(false),
_last_publish_time(0),
_last_update_time(0),
_current_target_motion({0}),
_previous_target_motion({0}),
_dt(0)
_previous_target_motion({0})
{
updateParams();
_current_vel.zero();
@@ -84,24 +85,23 @@ void
FollowTarget::on_inactive()
{
_previous_target_gps_pos_valid = false;
_current_target_state = ACSEND;
_follow_target_state = ACSEND;
}
void
FollowTarget::on_activation()
{
if(_target_motion_position_sub < 0) {
_target_motion_position_sub = orb_subscribe(ORB_ID(follow_target));
if(_follow_target_sub < 0) {
_follow_target_sub = orb_subscribe(ORB_ID(follow_target));
}
update_target_motion();
reset_mission_item_reached();
}
void
FollowTarget::loiter() {
math::Vector<3> vel;
FollowTarget::pause() {
math::Vector<3> vel(0,0,0);
_current_vel(0) = 0;
_current_vel(1) = 0;
@@ -132,22 +132,22 @@ FollowTarget::on_active() {
_radius_entered = (_target_distance.length() < (float) TARGET_ACCEPTANCE_RADIUS_M * 1.5f);
_radius_exited = (_target_distance.length() > (float) TARGET_ACCEPTANCE_RADIUS_M);
switch (_current_target_state) {
switch (_follow_target_state) {
case TRACK_POSITION:
{
if (_radius_entered == true) {
_current_target_state = TRACK_VELOCITY;
_follow_target_state = TRACK_VELOCITY;
} else {
track_position();
track_target_position();
}
break;
}
case TRACK_VELOCITY:
{
if (_radius_exited == true) {
_current_target_state = TRACK_POSITION;
_follow_target_state = TRACK_POSITION;
} else {
track_velocity();
track_target_velocity();
}
break;
}
@@ -155,12 +155,12 @@ FollowTarget::on_active() {
{
// ascend to the minimum altitude
loiter();
pause();
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
if(is_mission_item_reached()) {
_current_target_state = TRACK_POSITION;
_follow_target_state = TRACK_POSITION;
}
break;
}
@@ -168,7 +168,7 @@ FollowTarget::on_active() {
{
// Loiter until signal is regained
loiter();
pause();
break;
}
}
@@ -177,7 +177,7 @@ FollowTarget::on_active() {
}
void
FollowTarget::track_position() {
FollowTarget::track_target_position() {
set_follow_target_item(&_mission_item, _param_min_alt.get(), _current_target_motion, NAN);
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
@@ -189,7 +189,7 @@ FollowTarget::track_position() {
}
void
FollowTarget::track_velocity() {
FollowTarget::track_target_velocity() {
uint64_t current_time = hrt_absolute_time();
@@ -199,11 +199,9 @@ FollowTarget::track_velocity() {
set_follow_target_item(&_mission_item, _param_min_alt.get(), _current_target_motion, NAN);
// publish a new velocity every 100 ms
if ((((double) (current_time - _last_publish_time) * 1e-3) >= 100)) {
if ((current_time - _last_update_time)/1000 >= _step_time_in_ms) {
_current_vel += _step_vel;
_last_publish_time = current_time;
_last_update_time = current_time;
}
}
@@ -211,7 +209,7 @@ void
FollowTarget::update_target_motion() {
bool updated;
orb_check(_target_motion_position_sub, &updated);
orb_check(_follow_target_sub, &updated);
if (updated) {
@@ -219,7 +217,7 @@ FollowTarget::update_target_motion() {
_previous_target_motion = _current_target_motion;
orb_copy(ORB_ID(follow_target), _target_motion_position_sub, &_current_target_motion);
orb_copy(ORB_ID(follow_target), _follow_target_sub, &_current_target_motion);
update_target_velocity();
@@ -228,29 +226,30 @@ FollowTarget::update_target_motion() {
_previous_target_gps_pos_valid = true;
}
warnx(" lat %f (%f) lon %f (%f), dist = %f",
_current_target_motion.lat,
(double)_navigator->get_global_position()->lat,
_current_target_motion.lon,
(double)_navigator->get_global_position()->lon,
(double) _target_distance.length());
// warnx(" lat %f (%f) lon %f (%f), dist = %f",
// _current_target_motion.lat,
// (double)_navigator->get_global_position()->lat,
// _current_target_motion.lon,
// (double)_navigator->get_global_position()->lon,
// (double) _target_distance.length());
}
if ((((double)(hrt_absolute_time() - _previous_target_motion.timestamp) * 1e-6) > 10)) {
_current_target_state = TARGET_TIMEOUT;
} else if(_current_target_state == TARGET_TIMEOUT) {
_current_target_state = TRACK_POSITION;
if ((float) ((hrt_absolute_time() - _previous_target_motion.timestamp)/1000/1000) > TARGET_TIMEOUT_S) {
_follow_target_state = TARGET_TIMEOUT;
} else if(_follow_target_state == TARGET_TIMEOUT) {
_follow_target_state = TRACK_POSITION;
}
}
void
FollowTarget::update_target_velocity() {
struct map_projection_reference_s target_ref;
float dt_ms;
math::Vector<3> target_position(0,0,0);
struct map_projection_reference_s target_ref;
_dt = ((double) (_current_target_motion.timestamp - _previous_target_motion.timestamp) * 1e-6);
dt_ms = ((_current_target_motion.timestamp - _previous_target_motion.timestamp)/1000);
// get last gps reference for target
// get last gps known reference for target
map_projection_init(&target_ref, _previous_target_motion.lat, _previous_target_motion.lon);
@@ -258,18 +257,21 @@ FollowTarget::update_target_velocity() {
map_projection_project(&target_ref, _current_target_motion.lat, _current_target_motion.lon, &(target_position(0)), &(target_position(1)));
// update the average velocity of the target
// update the average velocity of the target based on the position
_target_vel = target_position / _dt;
_target_vel = target_position / (dt_ms/1000.0f);
// to keep the velocity increase/decrease smooth
// calculate how many velocity increments/decrements
// it will take to reach the targets velocity
// in 10 steps also add a feed forward input that increases
// velocity as the position gap increases
// with the given amount of steps also add a feed forward input that adjusts the
// velocity as the position gap increases since
// just traveling at the exact velocity of the target will not
// get any closer to the target
_step_vel = (_target_vel - _current_vel) + _target_distance * .15f;
_step_vel /= (_dt * 10);
_step_vel = (_target_vel - _current_vel) + _target_distance * FF_K;
_step_vel /= (dt_ms/1000.0f * (float) INTERPOLATION_PNTS);
_step_time_in_ms = dt_ms / (float) INTERPOLATION_PNTS;
}
void
src/modules/navigator/follow_target.h
+17 -18
View File
@@ -42,47 +42,47 @@
#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>
#include <lib/mathlib/math/Vector.hpp>
#include "navigator_mode.h"
#include "mission_block.h"
#include <lib/mathlib/math/Vector.hpp>
#include <lib/matrix/matrix/Matrix.hpp>
class FollowTarget : public MissionBlock
{
public:
FollowTarget(Navigator *navigator, const char *name);
~FollowTarget();
virtual void on_inactive();
void on_inactive() override;
void on_activation() override;
void on_active() override;
virtual void on_activation();
private:
virtual void on_active();
static constexpr int TARGET_TIMEOUT_S = 10;
static constexpr int TARGET_ACCEPTANCE_RADIUS_M = 10;
static constexpr int INTERPOLATION_PNTS = 20;
static constexpr float FF_K = .15f;
enum {
enum FollowTargetState {
ACSEND,
TRACK_POSITION,
TRACK_VELOCITY,
TARGET_TIMEOUT
};
private:
static constexpr int TARGET_TIMEOUT_INT_S = 10;
static constexpr int TARGET_ACCEPTANCE_RADIUS_M = 10;
Navigator *_navigator;
control::BlockParamFloat _param_min_alt;
int _current_target_state;
int _target_motion_position_sub;
FollowTargetState _follow_target_state;
int _follow_target_sub;
float _step_time_in_ms;
bool _previous_target_gps_pos_valid;
bool _radius_entered;
bool _radius_exited;
uint64_t _last_publish_time;
uint64_t _last_update_time;
math::Vector<3> _current_vel;
math::Vector<3> _step_vel;
@@ -91,11 +91,10 @@ private:
follow_target_s _current_target_motion;
follow_target_s _previous_target_motion;
float _dt;
void track_position();
void track_velocity();
void loiter();
void track_target_position();
void track_target_velocity();
void pause();
void update_position_sp(math::Vector<3> & vel);
void update_target_motion();
void update_target_velocity();