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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 13:53:34 +08:00
generic position controller status/feedback message
This commit is contained in:
Daniel Agar
@@ -277,13 +277,7 @@ FixedwingPositionControl::parameters_update()
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_landingslope.update(radians(land_slope_angle), land_flare_alt_relative, land_thrust_lim_alt_relative, land_H1_virt);
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// Update and publish the navigation capabilities
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_fw_pos_ctrl_status.landing_slope_angle_rad = _landingslope.landing_slope_angle_rad();
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_fw_pos_ctrl_status.landing_horizontal_slope_displacement = _landingslope.horizontal_slope_displacement();
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_fw_pos_ctrl_status.landing_flare_length = _landingslope.flare_length();
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fw_pos_ctrl_status_publish();
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landing_status_publish();
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// sanity check parameters
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if ((_parameters.airspeed_max < _parameters.airspeed_min) ||
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@@ -546,18 +540,121 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const Vector2f &curr_pos
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}
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void
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FixedwingPositionControl::fw_pos_ctrl_status_publish()
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FixedwingPositionControl::tecs_status_publish()
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{
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_fw_pos_ctrl_status.timestamp = hrt_absolute_time();
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tecs_status_s t = {};
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if (_fw_pos_ctrl_status_pub != nullptr) {
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orb_publish(ORB_ID(fw_pos_ctrl_status), _fw_pos_ctrl_status_pub, &_fw_pos_ctrl_status);
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switch (_tecs.tecs_mode()) {
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case TECS::ECL_TECS_MODE_NORMAL:
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t.mode = tecs_status_s::TECS_MODE_NORMAL;
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break;
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case TECS::ECL_TECS_MODE_UNDERSPEED:
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t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
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break;
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case TECS::ECL_TECS_MODE_BAD_DESCENT:
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t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
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break;
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case TECS::ECL_TECS_MODE_CLIMBOUT:
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t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
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break;
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}
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t.altitude_sp = _tecs.hgt_setpoint_adj();
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t.altitude_filtered = _tecs.vert_pos_state();
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t.airspeed_sp = _tecs.TAS_setpoint_adj();
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t.airspeed_filtered = _tecs.tas_state();
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t.flight_path_angle_sp = _tecs.hgt_rate_setpoint();
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t.flight_path_angle = _tecs.vert_vel_state();
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t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
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t.airspeed_derivative = _tecs.speed_derivative();
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t.total_energy_error = _tecs.STE_error();
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t.total_energy_rate_error = _tecs.STE_rate_error();
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t.energy_distribution_error = _tecs.SEB_error();
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t.energy_distribution_rate_error = _tecs.SEB_rate_error();
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t.throttle_integ = _tecs.throttle_integ_state();
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t.pitch_integ = _tecs.pitch_integ_state();
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t.timestamp = hrt_absolute_time();
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if (_tecs_status_pub != nullptr) {
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orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
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} else {
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_fw_pos_ctrl_status_pub = orb_advertise(ORB_ID(fw_pos_ctrl_status), &_fw_pos_ctrl_status);
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_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
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}
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}
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void
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FixedwingPositionControl::status_publish()
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{
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position_controller_status_s pos_ctrl_status = {};
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pos_ctrl_status.nav_roll = _att_sp.roll_body;
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pos_ctrl_status.nav_pitch = _att_sp.pitch_body;
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pos_ctrl_status.nav_bearing = _l1_control.nav_bearing();
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pos_ctrl_status.target_bearing = _l1_control.target_bearing();
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pos_ctrl_status.xtrack_error = _l1_control.crosstrack_error();
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pos_ctrl_status.wp_dist = get_distance_to_next_waypoint(_global_pos.lat, _global_pos.lon,
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_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon);
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pos_ctrl_status.acceptance_radius = _l1_control.switch_distance(500.0f);
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pos_ctrl_status.yaw_acceptance = NAN;
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pos_ctrl_status.timestamp = hrt_absolute_time();
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if (_pos_ctrl_status_pub != nullptr) {
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orb_publish(ORB_ID(position_controller_status), _pos_ctrl_status_pub, &pos_ctrl_status);
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} else {
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_pos_ctrl_status_pub = orb_advertise(ORB_ID(position_controller_status), &pos_ctrl_status);
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}
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}
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void
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FixedwingPositionControl::landing_status_publish()
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{
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position_controller_landing_status_s pos_ctrl_landing_status = {};
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pos_ctrl_landing_status.slope_angle_rad = _landingslope.landing_slope_angle_rad();
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pos_ctrl_landing_status.horizontal_slope_displacement = _landingslope.horizontal_slope_displacement();
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pos_ctrl_landing_status.flare_length = _landingslope.flare_length();
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pos_ctrl_landing_status.abort_landing = _land_abort;
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pos_ctrl_landing_status.timestamp = hrt_absolute_time();
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if (_pos_ctrl_landing_status_pub != nullptr) {
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orb_publish(ORB_ID(position_controller_landing_status), _pos_ctrl_landing_status_pub, &pos_ctrl_landing_status);
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} else {
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_pos_ctrl_landing_status_pub = orb_advertise(ORB_ID(position_controller_landing_status), &pos_ctrl_landing_status);
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}
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}
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void
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FixedwingPositionControl::abort_landing(bool abort)
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{
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// only announce changes
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if (abort && !_land_abort) {
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mavlink_log_critical(&_mavlink_log_pub, "Landing aborted");
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}
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_land_abort = abort;
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landing_status_publish();
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}
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void
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FixedwingPositionControl::get_waypoint_heading_distance(float heading, position_setpoint_s &waypoint_prev,
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position_setpoint_s &waypoint_next, bool flag_init)
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@@ -677,7 +774,7 @@ bool
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FixedwingPositionControl::in_takeoff_situation()
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{
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// in air for < 10s
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const hrt_abstime delta_takeoff = 10000000;
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const hrt_abstime delta_takeoff = 10_s;
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return (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff)
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&& (_global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff);
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@@ -864,10 +961,10 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
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_att_sp.roll_body = constrain(_att_sp.roll_body, radians(-5.0f), radians(5.0f));
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}
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if (_fw_pos_ctrl_status.abort_landing) {
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if (_land_abort) {
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if (pos_sp_curr.alt - _global_pos.alt < _parameters.climbout_diff) {
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// aborted landing complete, normal loiter over landing point
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_fw_pos_ctrl_status.abort_landing = false;
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abort_landing(false);
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} else {
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// continue straight until vehicle has sufficient altitude
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@@ -1344,9 +1441,8 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
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// save time at which we started landing and reset abort_landing
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if (_time_started_landing == 0) {
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reset_landing_state();
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_time_started_landing = hrt_absolute_time();
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_fw_pos_ctrl_status.abort_landing = false;
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}
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const float bearing_airplane_currwp = get_bearing_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
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@@ -1437,16 +1533,16 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
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// we have started landing phase but don't have valid terrain
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// wait for some time, maybe we will soon get a valid estimate
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// until then just use the altitude of the landing waypoint
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if (hrt_elapsed_time(&_time_started_landing) < 10 * 1000 * 1000) {
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if (hrt_elapsed_time(&_time_started_landing) < 10_s) {
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terrain_alt = pos_sp_curr.alt;
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} else {
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// still no valid terrain, abort landing
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terrain_alt = pos_sp_curr.alt;
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_fw_pos_ctrl_status.abort_landing = true;
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abort_landing(true);
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}
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} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT * 1000 * 1000)
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} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT)
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|| _land_noreturn_vertical) {
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// use previous terrain estimate for some time and hope to recover
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// if we are already flaring (land_noreturn_vertical) then just
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@@ -1456,7 +1552,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
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} else {
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// terrain alt was not valid for long time, abort landing
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terrain_alt = _t_alt_prev_valid;
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_fw_pos_ctrl_status.abort_landing = true;
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abort_landing(true);
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}
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}
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@@ -1615,8 +1711,7 @@ FixedwingPositionControl::handle_command()
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_pos_sp_triplet.current.valid &&
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_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
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_fw_pos_ctrl_status.abort_landing = true;
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mavlink_log_critical(&_mavlink_log_pub, "Landing aborted");
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abort_landing(true);
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}
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}
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}
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@@ -1760,32 +1855,11 @@ FixedwingPositionControl::run()
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/* advertise and publish */
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_attitude_sp_pub = orb_advertise(_attitude_setpoint_id, &_att_sp);
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}
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}
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/* XXX check if radius makes sense here */
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float turn_distance = _l1_control.switch_distance(500.0f);
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/* lazily publish navigation capabilities */
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if ((hrt_elapsed_time(&_fw_pos_ctrl_status.timestamp) > 1000000)
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|| (fabsf(turn_distance - _fw_pos_ctrl_status.turn_distance) > FLT_EPSILON
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&& turn_distance > 0)) {
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/* set new turn distance */
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_fw_pos_ctrl_status.turn_distance = turn_distance;
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_fw_pos_ctrl_status.nav_roll = _l1_control.get_roll_setpoint();
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_fw_pos_ctrl_status.nav_pitch = get_tecs_pitch();
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_fw_pos_ctrl_status.nav_bearing = _l1_control.nav_bearing();
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_fw_pos_ctrl_status.target_bearing = _l1_control.target_bearing();
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_fw_pos_ctrl_status.xtrack_error = _l1_control.crosstrack_error();
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Vector2f curr_wp((float)_pos_sp_triplet.current.lat, (float)_pos_sp_triplet.current.lon);
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_fw_pos_ctrl_status.wp_dist = get_distance_to_next_waypoint((double)curr_pos(0), (double)curr_pos(1),
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(double)curr_wp(0), (double)curr_wp(1));
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fw_pos_ctrl_status_publish();
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// only publish status in full FW mode
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if (!_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
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status_publish();
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}
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}
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}
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@@ -1826,10 +1900,9 @@ FixedwingPositionControl::reset_landing_state()
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_land_onslope = false;
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// reset abort land, unless loitering after an abort
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if (_fw_pos_ctrl_status.abort_landing
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&& _pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER) {
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if (_land_abort && (_pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER)) {
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_fw_pos_ctrl_status.abort_landing = false;
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abort_landing(false);
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}
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}
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@@ -1962,52 +2035,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
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throttle_min, throttle_max, throttle_cruise,
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pitch_min_rad, pitch_max_rad);
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tecs_status_s t;
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t.timestamp = _tecs.timestamp();
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switch (_tecs.tecs_mode()) {
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case TECS::ECL_TECS_MODE_NORMAL:
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t.mode = tecs_status_s::TECS_MODE_NORMAL;
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break;
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case TECS::ECL_TECS_MODE_UNDERSPEED:
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t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
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break;
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case TECS::ECL_TECS_MODE_BAD_DESCENT:
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t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
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break;
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case TECS::ECL_TECS_MODE_CLIMBOUT:
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t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
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break;
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}
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t.altitude_sp = _tecs.hgt_setpoint_adj();
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t.altitude_filtered = _tecs.vert_pos_state();
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t.airspeed_sp = _tecs.TAS_setpoint_adj();
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t.airspeed_filtered = _tecs.tas_state();
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t.flight_path_angle_sp = _tecs.hgt_rate_setpoint();
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t.flight_path_angle = _tecs.vert_vel_state();
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t.airspeed_derivative_sp = _tecs.TAS_rate_setpoint();
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t.airspeed_derivative = _tecs.speed_derivative();
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t.total_energy_error = _tecs.STE_error();
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t.total_energy_rate_error = _tecs.STE_rate_error();
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t.energy_distribution_error = _tecs.SEB_error();
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t.energy_distribution_rate_error = _tecs.SEB_rate_error();
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t.throttle_integ = _tecs.throttle_integ_state();
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t.pitch_integ = _tecs.pitch_integ_state();
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if (_tecs_status_pub != nullptr) {
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orb_publish(ORB_ID(tecs_status), _tecs_status_pub, &t);
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} else {
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_tecs_status_pub = orb_advertise(ORB_ID(tecs_status), &t);
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}
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tecs_status_publish();
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}
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FixedwingPositionControl *FixedwingPositionControl::instantiate(int argc, char *argv[])
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@@ -55,22 +55,23 @@
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#include <cfloat>
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#include <drivers/drv_hrt.h>
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#include <ecl/l1/ecl_l1_pos_controller.h>
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#include <ecl/tecs/tecs.h>
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#include <lib/ecl/geo/geo.h>
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#include <mathlib/mathlib.h>
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#include <lib/ecl/l1/ecl_l1_pos_controller.h>
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#include <lib/ecl/tecs/tecs.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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#include <px4_module_params.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <perf/perf_counter.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/airspeed.h>
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#include <uORB/topics/fw_pos_ctrl_status.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/position_controller_landing_status.h>
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#include <uORB/topics/position_controller_status.h>
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#include <uORB/topics/position_setpoint_triplet.h>
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#include <uORB/topics/sensor_baro.h>
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#include <uORB/topics/sensor_bias.h>
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@@ -86,23 +87,6 @@
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#include <uORB/uORB.h>
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#include <vtol_att_control/vtol_type.h>
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static constexpr float HDG_HOLD_DIST_NEXT =
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3000.0f; // initial distance of waypoint in front of plane in heading hold mode
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static constexpr float HDG_HOLD_REACHED_DIST =
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1000.0f; // distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
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static constexpr float HDG_HOLD_SET_BACK_DIST = 100.0f; // distance by which previous waypoint is set behind the plane
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static constexpr float HDG_HOLD_YAWRATE_THRESH = 0.15f; // max yawrate at which plane locks yaw for heading hold mode
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static constexpr float HDG_HOLD_MAN_INPUT_THRESH =
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0.01f; // max manual roll/yaw input from user which does not change the locked heading
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static constexpr hrt_abstime T_ALT_TIMEOUT = 1; // time after which we abort landing if terrain estimate is not valid
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static constexpr float THROTTLE_THRESH =
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0.05f; ///< max throttle from user which will not lead to motors spinning up in altitude controlled modes
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static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
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0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
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static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
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using math::constrain;
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using math::max;
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using math::min;
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@@ -118,6 +102,24 @@ using uORB::Subscription;
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using namespace launchdetection;
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using namespace runwaytakeoff;
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using namespace time_literals;
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static constexpr float HDG_HOLD_DIST_NEXT =
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3000.0f; // initial distance of waypoint in front of plane in heading hold mode
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static constexpr float HDG_HOLD_REACHED_DIST =
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1000.0f; // distance (plane to waypoint in front) at which waypoints are reset in heading hold mode
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static constexpr float HDG_HOLD_SET_BACK_DIST = 100.0f; // distance by which previous waypoint is set behind the plane
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static constexpr float HDG_HOLD_YAWRATE_THRESH = 0.15f; // max yawrate at which plane locks yaw for heading hold mode
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static constexpr float HDG_HOLD_MAN_INPUT_THRESH =
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0.01f; // max manual roll/yaw input from user which does not change the locked heading
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static constexpr hrt_abstime T_ALT_TIMEOUT = 1_s; // time after which we abort landing if terrain estimate is not valid
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||||
|
||||
static constexpr float THROTTLE_THRESH =
|
||||
0.05f; ///< max throttle from user which will not lead to motors spinning up in altitude controlled modes
|
||||
static constexpr float MANUAL_THROTTLE_CLIMBOUT_THRESH =
|
||||
0.85f; ///< a throttle / pitch input above this value leads to the system switching to climbout mode
|
||||
static constexpr float ALTHOLD_EPV_RESET_THRESH = 5.0f;
|
||||
|
||||
class FixedwingPositionControl final : public ModuleBase<FixedwingPositionControl>, public ModuleParams
|
||||
{
|
||||
@@ -161,12 +163,12 @@ private:
|
||||
int _sensor_baro_sub{-1};
|
||||
|
||||
orb_advert_t _attitude_sp_pub{nullptr}; ///< attitude setpoint */
|
||||
orb_advert_t _pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
|
||||
orb_advert_t _pos_ctrl_landing_status_pub{nullptr}; ///< landing status publication */
|
||||
orb_advert_t _tecs_status_pub{nullptr}; ///< TECS status publication */
|
||||
orb_advert_t _fw_pos_ctrl_status_pub{nullptr}; ///< navigation capabilities publication */
|
||||
|
||||
orb_id_t _attitude_setpoint_id{nullptr};
|
||||
|
||||
fw_pos_ctrl_status_s _fw_pos_ctrl_status {}; ///< navigation capabilities */
|
||||
manual_control_setpoint_s _manual {}; ///< r/c channel data */
|
||||
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */
|
||||
vehicle_attitude_s _att {}; ///< vehicle attitude setpoint */
|
||||
@@ -202,6 +204,7 @@ private:
|
||||
bool _land_stayonground{false};
|
||||
bool _land_motor_lim{false};
|
||||
bool _land_onslope{false};
|
||||
bool _land_abort{false};
|
||||
|
||||
Landingslope _landingslope;
|
||||
|
||||
@@ -367,9 +370,7 @@ private:
|
||||
} _parameter_handles {}; ///< handles for interesting parameters */
|
||||
|
||||
|
||||
/**
|
||||
* Update our local parameter cache.
|
||||
*/
|
||||
// Update our local parameter cache.
|
||||
int parameters_update();
|
||||
|
||||
// Update subscriptions
|
||||
@@ -383,8 +384,11 @@ private:
|
||||
void vehicle_land_detected_poll();
|
||||
void vehicle_status_poll();
|
||||
|
||||
// publish navigation capabilities
|
||||
void fw_pos_ctrl_status_publish();
|
||||
void status_publish();
|
||||
void landing_status_publish();
|
||||
void tecs_status_publish();
|
||||
|
||||
void abort_landing(bool abort);
|
||||
|
||||
/**
|
||||
* Get a new waypoint based on heading and distance from current position
|
||||
|
||||
Reference in New Issue
Block a user