Added VTOL Takeoff navigation mode (#19027)

* Commander: added support for MAIN_STATE_AUTO_VTOL_TAKEOFF * navigator: added support for vtol_takeoff navigation mode
2026-10-23 14:13:35 +08:00 · 2022-02-15 14:56:57 +01:00
parent 374bcb105a
commit 6de5d24e00
13 changed files with 388 additions and 12 deletions
@@ -0,0 +1,165 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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.
+ *
+ ****************************************************************************/
+/**
+ * @file vtol_takeoff.cpp
+ *
+ * Helper class to do a VTOL takeoff and transition into a loiter.
+ *
+ */
+
+#include "vtol_takeoff.h"
+#include "navigator.h"
+
+using matrix::wrap_pi;
+
+VtolTakeoff::VtolTakeoff(Navigator *navigator) :
+	MissionBlock(navigator),
+	ModuleParams(navigator)
+{
+}
+
+void
+VtolTakeoff::on_activation()
+{
+	if (_navigator->home_position_valid()) {
+		set_takeoff_position();
+		_takeoff_state = vtol_takeoff_state::TAKEOFF_HOVER;
+	}
+}
+
+void
+VtolTakeoff::on_active()
+{
+	if (is_mission_item_reached()) {
+		reset_mission_item_reached();
+
+		switch	(_takeoff_state) {
+		case vtol_takeoff_state::TAKEOFF_HOVER: {
+
+				position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+				_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+				_mission_item.yaw = wrap_pi(get_bearing_to_next_waypoint(_navigator->get_home_position()->lat,
+							    _navigator->get_home_position()->lon, _loiter_location(0), _loiter_location(1)));
+				_mission_item.force_heading = true;
+				mission_apply_limitation(_mission_item);
+				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+				pos_sp_triplet->current.disable_weather_vane = true;
+
+				_navigator->set_position_setpoint_triplet_updated();
+
+				_takeoff_state = vtol_takeoff_state::ALIGN_HEADING;
+
+				break;
+			}
+
+		case vtol_takeoff_state::ALIGN_HEADING: {
+
+				set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
+				_mission_item.lat = _loiter_location(0);
+				_mission_item.lon = _loiter_location(1);
+				position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+				pos_sp_triplet->previous = pos_sp_triplet->current;
+
+				_navigator->set_position_setpoint_triplet_updated();
+
+				issue_command(_mission_item);
+
+				_takeoff_state = vtol_takeoff_state::TRANSITION;
+
+				break;
+			}
+
+		case vtol_takeoff_state::TRANSITION: {
+				position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+
+				_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
+				_mission_item.lat = _loiter_location(0);
+				_mission_item.lon = _loiter_location(1);
+
+				// we need the vehicle to loiter indefinitely but also we want this mission item to be reached as soon
+				// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
+				// however it will just continue loitering as there is no next mission item
+				_mission_item.time_inside = 1;
+				_mission_item.loiter_radius = _navigator->get_loiter_radius();
+				_mission_item.altitude = _navigator->get_home_position()->alt + _param_loiter_alt.get();
+
+				mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+
+				_navigator->set_position_setpoint_triplet_updated();
+
+				_takeoff_state = vtol_takeoff_state::CLIMB;
+
+				break;
+			}
+
+		case vtol_takeoff_state::CLIMB: {
+
+				// the VTOL takeoff is done, proceed loitering and upate the navigation state to LOITER
+				_navigator->get_mission_result()->finished = true;
+				_navigator->set_mission_result_updated();
+
+				break;
+			}
+
+		default: {
+
+				break;
+			}
+		}
+	}
+}
+
+void
+VtolTakeoff::set_takeoff_position()
+{
+	// set current mission item to takeoff
+	set_takeoff_item(&_mission_item, _transition_alt_amsl);
+
+	_mission_item.lat = _navigator->get_home_position()->lat;
+	_mission_item.lon = _navigator->get_home_position()->lon;
+
+	_navigator->get_mission_result()->finished = false;
+	_navigator->set_mission_result_updated();
+
+	// convert mission item to current setpoint
+	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
+	mission_apply_limitation(_mission_item);
+	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
+
+	pos_sp_triplet->previous.valid = false;
+	pos_sp_triplet->current.yaw_valid = true;
+	pos_sp_triplet->next.valid = false;
+
+	_navigator->set_position_setpoint_triplet_updated();
+}