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extracted runway takeoff logic into external class
This commit is contained in:
Andreas Antener
@@ -0,0 +1,208 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file RunwayTakeoff.cpp
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* Runway takeoff handling for fixed-wing UAVs with steerable wheels.
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*
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* @author Roman Bapst <roman@px4.io>
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* @author Andreas Antener <andreas@uaventure.com>
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include "RunwayTakeoff.h"
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include <mavlink/mavlink_log.h>
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#include <mathlib/mathlib.h>
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namespace runwaytakeoff
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{
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RunwayTakeoff::RunwayTakeoff() :
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SuperBlock(NULL, "RWTO"),
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_state(),
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_initialized(false),
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_initialized_time(0),
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_init_yaw(0),
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_climbout(false),
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_min_airspeed_scaling(1.3f),
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_runway_takeoff_enabled(this, "TKOFF"),
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_runway_takeoff_heading(this, "HDG"),
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_runway_takeoff_nav_alt(this, "NAV_ALT"),
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_runway_takeoff_throttle(this, "MAX_THR"),
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_runway_takeoff_pitch_sp(this, "PSP"),
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_airspeed_min(this, "FW_AIRSPD_MIN", false),
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_climbout_diff(this, "FW_CLMBOUT_DIFF", false)
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{
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updateParams();
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}
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RunwayTakeoff::~RunwayTakeoff()
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{
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}
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void RunwayTakeoff::init(float yaw)
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{
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_init_yaw = yaw;
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_initialized = true;
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_state = RunwayTakeoffState::THROTTLE_RAMP;
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_initialized_time = hrt_absolute_time();
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}
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void RunwayTakeoff::update(float airspeed, float alt_agl, int mavlink_fd)
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{
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if (_climbout_diff.get() > 0.0001f && alt_agl < _climbout_diff.get()) {
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_climbout = true;
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}
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else {
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_climbout = false;
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}
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switch (_state) {
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case RunwayTakeoffState::THROTTLE_RAMP:
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if (hrt_elapsed_time(&_initialized_time) > 1e6) {
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_state = RunwayTakeoffState::CLAMPED_TO_RUNWAY;
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}
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break;
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case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
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if (airspeed > _airspeed_min.get() * _min_airspeed_scaling) {
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_state = RunwayTakeoffState::TAKEOFF;
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mavlink_log_info(mavlink_fd, "#audio: Takeoff airspeed reached");
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}
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break;
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case RunwayTakeoffState::TAKEOFF:
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if (alt_agl > math::max(_runway_takeoff_nav_alt.get(), _climbout_diff.get())) {
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_state = RunwayTakeoffState::FLY;
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mavlink_log_info(mavlink_fd, "#audio: Navigating to waypoint");
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}
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break;
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default:
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return;
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}
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}
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bool RunwayTakeoff::controlYaw()
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{
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// keep controlling yaw with rudder until we have enough ground clearance
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return _state < RunwayTakeoffState::FLY;
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}
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float RunwayTakeoff::getPitch(float tecsPitch)
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{
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if (_state <= RunwayTakeoffState::CLAMPED_TO_RUNWAY) {
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return math::radians(_runway_takeoff_pitch_sp.get());
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}
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return tecsPitch;
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}
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float RunwayTakeoff::getRoll(float navigatorRoll)
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{
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if (_state < RunwayTakeoffState::FLY) {
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return 0.0f;
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}
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return navigatorRoll;
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}
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float RunwayTakeoff::getYaw(float navigatorYaw)
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{
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if (_state < RunwayTakeoffState::FLY) {
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if (_runway_takeoff_heading.get() == 0) {
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// fix heading in the direction the airframe points
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return _init_yaw;
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} else if (_runway_takeoff_heading.get() == 1) {
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// or head into the direction of the takeoff waypoint
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// XXX this needs a check if the deviation from actual heading is too big (else we do a full throttle wheel turn on the ground)
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return navigatorYaw;
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}
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}
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return navigatorYaw;
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}
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float RunwayTakeoff::getThrottle(float tecsThrottle)
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{
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switch (_state) {
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case RunwayTakeoffState::THROTTLE_RAMP: {
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float throttle = hrt_elapsed_time(&_initialized_time) / (float)2000000 *
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_runway_takeoff_throttle.get();
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return throttle < _runway_takeoff_throttle.get() ?
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throttle :
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_runway_takeoff_throttle.get();
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}
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case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
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return _runway_takeoff_throttle.get();
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default:
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return tecsThrottle;
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}
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}
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bool RunwayTakeoff::resetIntegrators()
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{
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return _state <= RunwayTakeoffState::TAKEOFF;
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}
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float RunwayTakeoff::getMinPitch(float sp_min, float climbout_min, float min)
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{
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if (_climbout) {
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return math::max(sp_min, climbout_min);
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}
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else {
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return min;
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}
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}
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void RunwayTakeoff::reset()
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{
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_initialized = false;
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_state = RunwayTakeoffState::THROTTLE_RAMP;
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}
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}
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@@ -0,0 +1,115 @@
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/****************************************************************************
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*
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* Copyright (c) 2015 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file RunwayTakeoff.h
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* Runway takeoff handling for fixed-wing UAVs with steerable wheels.
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*
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* @author Roman Bapst <roman@px4.io>
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* @author Andreas Antener <andreas@uaventure.com>
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*/
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#ifndef RUNWAYTAKEOFF_H
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#define RUNWAYTAKEOFF_H
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#include <stdbool.h>
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#include <stdint.h>
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#include <math.h>
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#include <drivers/drv_hrt.h>
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include <mavlink/mavlink_log.h>
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#include <mathlib/mathlib.h>
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namespace runwaytakeoff
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{
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enum RunwayTakeoffState {
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THROTTLE_RAMP = 0, /**< */
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CLAMPED_TO_RUNWAY = 1, /**< */
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TAKEOFF = 2, /**< */
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FLY = 3 /**< */
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};
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class __EXPORT RunwayTakeoff : public control::SuperBlock
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{
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public:
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RunwayTakeoff();
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~RunwayTakeoff();
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void init(float yaw);
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void update(float airspeed, float alt_agl, int mavlink_fd);
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RunwayTakeoffState getState() { return _state; };
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bool isInitialized() { return _initialized; };
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bool runwayTakeoffEnabled() { return (bool)_runway_takeoff_enabled.get(); };
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bool controlYaw();
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bool climbout() { return _climbout; };
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float getPitch(float tecsPitch);
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float getRoll(float navigatorRoll);
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float getYaw(float navigatorYaw);
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float getThrottle(float tecsThrottle);
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bool resetIntegrators();
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float getMinAirspeedScaling() { return _min_airspeed_scaling; };
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float getMinPitch(float sp_min, float climbout_min, float min);
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void reset();
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protected:
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private:
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/** state variables **/
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RunwayTakeoffState _state;
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bool _initialized;
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hrt_abstime _initialized_time;
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float _init_yaw;
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bool _climbout;
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/** magic values **/
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float _min_airspeed_scaling;
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/** parameters **/
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control::BlockParamInt _runway_takeoff_enabled;
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control::BlockParamInt _runway_takeoff_heading;
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control::BlockParamFloat _runway_takeoff_nav_alt;
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control::BlockParamFloat _runway_takeoff_throttle;
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control::BlockParamFloat _runway_takeoff_pitch_sp;
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control::BlockParamFloat _airspeed_min;
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control::BlockParamFloat _climbout_diff;
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};
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}
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#endif // RUNWAYTAKEOFF_H
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@@ -0,0 +1,41 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013, 2014 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
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############################################################################
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#
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# RunwayTakeoff Library
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#
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SRCS = RunwayTakeoff.cpp \
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runway_takeoff_params.c
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MAXOPTIMIZATION = -Os
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@@ -0,0 +1,100 @@
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/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2015 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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/**
|
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* @file runway_takeoff_params.c
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*
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* Parameters for runway takeoff
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*
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* @author Andreas Antener <andreas@uaventure.com>
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*/
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#include <px4_config.h>
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#include <systemlib/param/param.h>
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/**
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* Enable or disable runway takeoff with landing gear
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*
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* 0: disabled, 1: enabled
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*
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* @min 0
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* @max 1
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* @group Runway Takeoff
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*/
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PARAM_DEFINE_INT32(RWTO_TKOFF, 0);
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/**
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* Specifies which heading should be held during runnway takeoff.
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*
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* 0: airframe heading, 1: heading towards takeoff waypoint
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*
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* @min 0
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* @max 1
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* @group Runway Takeoff
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*/
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PARAM_DEFINE_INT32(RWTO_HDG, 0);
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/**
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* Altitude AGL at which navigation towards takeoff waypoint starts.
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* Until RWTO_NAV_ALT is reached the plane is held level and only
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* rudder is used to keep the heading (see RWTO_HDG). If this is lower
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* than FW_CLMBOUT_DIFF, FW_CLMBOUT_DIFF is used instead.
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*
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* @min 0.0
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* @max 100.0
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* @group Runway Takeoff
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*/
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PARAM_DEFINE_FLOAT(RWTO_NAV_ALT, 5.0);
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/**
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* Max throttle during runway takeoff.
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* (Can be used to test taxi on runway)
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*
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* @min 0.0
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* @max 1.0
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* @group Runway Takeoff
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*/
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PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0);
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/**
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* Pitch setpoint during runway takeoff.
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* A taildragger with stearable wheel might need to pitch up
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* a little to keep it's wheel on the ground before airspeed
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* to takeoff is reached.
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*
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* @min 0.0
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* @max 20.0
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* @group Runway Takeoff
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*/
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PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
|
||||
Reference in New Issue
Block a user