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move landing slope calculations into own class

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This commit is contained in:
Thomas Gubler
2013-12-25 02:16:52 +01:00
parent 13507a3127
commit 5c33aeeb43
4 changed files with 180 additions and 25 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+14 -24
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@@ -87,6 +87,7 @@
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
#include "landingslope.h"
/**
* L1 control app start / stop handling function
@@ -168,6 +169,9 @@ private:
bool land_motor_lim;
bool land_onslope;
/* Landingslope object */
Landingslope landingslope;
float flare_curve_alt_last;
/* heading hold */
float target_bearing;
@@ -307,11 +311,6 @@ private:
*/
void vehicle_setpoint_poll();
/**
* Get Altitude on the landing glide slope
*/
float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad, float horizontal_displacement);
/**
* Control position.
*/
@@ -536,6 +535,9 @@ FixedwingPositionControl::parameters_update()
return 1;
}
/* Update the landing slope */
landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_horizontal_distance, _parameters.land_H1_virt);
return OK;
}
@@ -707,11 +709,6 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &cu
}
}
float FixedwingPositionControl::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad, float horizontal_displacement)
{
return (wp_distance - horizontal_displacement) * tanf(landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative
}
bool
FixedwingPositionControl::control_position(const math::Vector2f &current_position, const math::Vector2f &ground_speed,
const struct mission_item_triplet_s &mission_item_triplet)
@@ -854,20 +851,13 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle);
float flare_relative_alt = _parameters.land_flare_alt_relative;
float motor_lim_horizontal_distance = _parameters.land_thrust_lim_horizontal_distance;//be generous here as we currently have to rely on the user input for the waypoint
float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length;
float H1 = _parameters.land_H1_virt;
float H0 = flare_relative_alt + H1;
float d1 = flare_relative_alt/tanf(landing_slope_angle_rad);
float flare_constant = (H0 * d1)/flare_relative_alt;//-flare_length/(logf(H1/H0));
float flare_length = - logf(H1/H0) * flare_constant;//d1+20.0f;//-logf(0.01f/flare_relative_alt);
float horizontal_slope_displacement = (flare_length - d1);
float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
if ( (_global_pos.alt < _mission_item_triplet.current.altitude + flare_relative_alt) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
if ( (_global_pos.alt < _mission_item_triplet.current.altitude + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
/* land with minimal speed */
@@ -877,7 +867,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* kill the throttle if param requests it */
throttle_max = _parameters.throttle_max;
if (wp_distance < motor_lim_horizontal_distance || land_motor_lim) {
if (wp_distance < landingslope.motor_lim_horizontal_distance() || land_motor_lim) {
throttle_max = math::min(throttle_max, _parameters.throttle_land_max);
if (!land_motor_lim) {
land_motor_lim = true;
@@ -886,7 +876,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
}
float flare_curve_alt = _mission_item_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1;
float flare_curve_alt = _mission_item_triplet.current.altitude + landingslope.H0() * expf(-math::max(0.0f, landingslope.flare_length() - wp_distance)/landingslope.flare_constant()) - landingslope.H1_virt();
/* avoid climbout */
if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
src/modules/fw_pos_control_l1/landingslope.cpp
+78
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@@ -0,0 +1,78 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* 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.
*
****************************************************************************/
/*
* @file: landingslope.cpp
*
* @author: Thomas Gubler <thomasgubler@gmail.com>
*/
#include "landingslope.h"
#include <nuttx/config.h>
#include <stdlib.h>
#include <errno.h>
#include <math.h>
#include <unistd.h>
void Landingslope::update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_horizontal_distance,
float H1_virt)
{
_landing_slope_angle_rad = landing_slope_angle_rad;
_flare_relative_alt = flare_relative_alt;
_motor_lim_horizontal_distance = motor_lim_horizontal_distance;
_H1_virt = H1_virt;
calculateSlopeValues();
}
void Landingslope::calculateSlopeValues()
{
_H0 = _flare_relative_alt + _H1_virt;
_d1 = _flare_relative_alt/tanf(_landing_slope_angle_rad);
_flare_constant = (_H0 * _d1)/_flare_relative_alt;
_flare_length = - logf(_H1_virt/_H0) * _flare_constant;
_horizontal_slope_displacement = (_flare_length - _d1);
}
float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude)
{
return (wp_distance - _horizontal_slope_displacement) * tanf(_landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative
}
src/modules/fw_pos_control_l1/landingslope.h
+86
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@@ -0,0 +1,86 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
*
* 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.
*
****************************************************************************/
/*
* @file: landingslope.h
*
* @author: Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef LANDINGSLOPE_H_
#define LANDINGSLOPE_H_
class Landingslope
{
private:
float _landing_slope_angle_rad;
float _flare_relative_alt;
float _motor_lim_horizontal_distance;
float _H1_virt;
float _H0;
float _d1;
float _flare_constant;
float _flare_length;
float _horizontal_slope_displacement;
void calculateSlopeValues();
public:
Landingslope() {}
~Landingslope() {}
float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude);
void update(float landing_slope_angle_rad,
float flare_relative_alt,
float motor_lim_horizontal_distance,
float H1_virt);
inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;}
inline float flare_relative_alt() {return _flare_relative_alt;}
inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;}
inline float H1_virt() {return _H1_virt;}
inline float H0() {return _H0;}
inline float d1() {return _d1;}
inline float flare_constant() {return _flare_constant;}
inline float flare_length() {return _flare_length;}
inline float horizontal_slope_displacement() {return _horizontal_slope_displacement;}
};
#endif /* LANDINGSLOPE_H_ */
src/modules/fw_pos_control_l1/module.mk
+2 -1
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@@ -38,4 +38,5 @@
MODULE_COMMAND = fw_pos_control_l1
SRCS = fw_pos_control_l1_main.cpp \
fw_pos_control_l1_params.c
fw_pos_control_l1_params.c \
landingslope.cpp