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FlightTaskAuto: abstract class for mapping triplets to quadruple
FlightTaskAuto: add type that corresponds to triplet type FligthTaskAuto: set all setpoints if invalid in xy FlightTaskAuto: cast triplet type to WaypointType FlightTaskAutoLine: class for px4 legacy auto FlightTaskAutoLine: methods prototype FlightTaskAuto: change sp to wp (=Waypoint) add params FlightTaskAutoLine: follow waypoints along line based on flight state
This commit is contained in:
Dennis Mannhart
committed by
Lorenz Meier
Lorenz Meier
parent
89a902524a
commit
6e62beb560
@@ -0,0 +1,489 @@
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/****************************************************************************
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*
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* Copyright (c) 2018 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 FlightAutoLine.cpp
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*/
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#include "FlightTaskAutoLine.hpp"
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#include <mathlib/mathlib.h>
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using namespace matrix;
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#define SIGMA_SINGLE_OP 0.000001f
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#define SIGMA_NORM 0.001f
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FlightTaskAutoLine::FlightTaskAutoLine(control::SuperBlock *parent, const char *name) :
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FlightTaskAuto(parent, name),
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_land_speed(parent, "MPC_LAND_SPEED", false),
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_vel_max_up(parent, "MPC_Z_VEL_MAX_UP", false),
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_vel_max_down(parent, "MPC_Z_VEL_MAX_DN", false),
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_acc_max_xy(parent, "MPC_ACC_HOR_MAX", false),
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_acc_xy(parent, "MPC_ACC_HOR", false),
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_acc_max_up(parent, "MPC_ACC_UP_MAX", false),
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_acc_max_down(parent, "MPC_ACC_DOWN_MAX", false),
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_cruise_speed_90(parent, "MPC_CRUISE_90", false),
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_nav_rad(parent, "NAV_ACC_RAD", false),
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_mis_yaw_error(parent, "MIS_YAW_ERR", false)
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{}
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bool FlightTaskAutoLine::activate()
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{
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_vel_sp_xy = matrix::Vector2f(&_velocity(0));
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_pos_sp_xy = matrix::Vector2f(&_position(0));
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_vel_sp_z = _velocity(2);
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_pos_sp_z = _position(2);
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_destination = _target;
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_origin = _prev_wp;
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_speed_at_target = 0.0f;
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return FlightTaskAuto::activate();
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}
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bool FlightTaskAutoLine::update()
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{
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if (_type == WaypointType::idle) {
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_generateIdleSetpoints();
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} else if (_type == WaypointType::land) {
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_generateLandSetpoints();
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} else if (_type == WaypointType::loiter || _type == WaypointType::position) {
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_generateSetpoints();
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} else if (_type == WaypointType::takeoff) {
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_generateTakeoffSetpoints();
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} else if (_type == WaypointType::velocity) {
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_generateVelocitySetpoints();
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}
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/* Send setpoints */
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_setVelocitySetpoint(Vector3f(_vel_sp_xy(0), _vel_sp_xy(1), _vel_sp_z));
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_setPositionSetpoint(Vector3f(_pos_sp_xy(0), _pos_sp_xy(1), _pos_sp_z));
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_setYawSetpoint(_yaw_wp);
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return true;
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}
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void FlightTaskAutoLine::_generateIdleSetpoints()
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{
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/* Send zero thrust setpoint */
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_vel_sp_xy = matrix::Vector2f(NAN, NAN);
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_vel_sp_z = NAN;
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_pos_sp_xy = matrix::Vector2f(NAN, NAN);
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_pos_sp_z = NAN;
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_setThrustSetpoint(Vector3f(0.0f, 0.0f, 0.0f));
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}
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void FlightTaskAutoLine::_generateLandSetpoints()
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{
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_pos_sp_xy = Vector2f(&_target(0));
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_pos_sp_z = NAN;
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_vel_sp_xy *= NAN;
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_vel_sp_z = _land_speed.get();
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}
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void FlightTaskAutoLine::_generateTakeoffSetpoints()
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{
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_pos_sp_xy = Vector2f(&_target(0));
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_pos_sp_z = _target(2);
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_vel_sp_xy.zero();
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_vel_sp_z = 0.0f;
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}
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void FlightTaskAutoLine::_generateSetpoints()
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{
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_updateInternalWaypoints();
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_generateAltitudeSetpoints();
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_generateXYsetpoints();
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}
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void FlightTaskAutoLine::_updateInternalWaypoints()
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{
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if (_type == WaypointType::loiter) {
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/* If loiter, then we want to stop at loiter anyway. Hence, just
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* set next waypoint to target.
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*/
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_next_wp = _target;
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}
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/* Adjust destination and origin based on current vehicle state */
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Vector2f u_prev_to_target = Vector2f(&(_target - _prev_wp)(0)).unit_or_zero();
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Vector2f pos_to_target = Vector2f(&(_target - _position)(0));
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Vector2f prev_to_pos = Vector2f(&(_position - _prev_wp)(0));
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Vector2f closest_pt = Vector2f(&_prev_wp(0)) + u_prev_to_target * (prev_to_pos * u_prev_to_target);
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if (u_prev_to_target * pos_to_target < 0.0f) {
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/* Target is behind */
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if (_current_state != State::target_behind) {
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_destination = _target;
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_origin = _position;
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_current_state = State::target_behind;
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float angle = 2.0f;
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_speed_at_target = 0.0f;
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/* angle = cos(x) + 1.0
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* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
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if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
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(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
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angle = Vector2f(&(_destination - _origin)(0)).unit_or_zero()
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* Vector2f(&(_destination - _next_wp)(0)).unit_or_zero()
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+ 1.0f;
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_speed_at_target = _getVelcoityFromAngle(angle);
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}
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}
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} else if (u_prev_to_target * prev_to_pos < 0.0f && prev_to_pos.length() > _mc_cruise_speed) {
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/* current position more than cruise speed in front of previous setpoint. */
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if (_current_state != State::previous_infront) {
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_destination = _prev_wp;
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_origin = _position;
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_current_state = State::previous_infront;
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float angle = 2.0f;
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_speed_at_target = 0.0f;
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/* angle = cos(x) + 1.0
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* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
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if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
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(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
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angle = Vector2f(&(_destination - _origin)(0)).unit_or_zero()
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* Vector2f(&(_destination - _next_wp)(0)).unit_or_zero()
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+ 1.0f;
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_speed_at_target = _getVelcoityFromAngle(angle);
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}
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}
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} else if (Vector2f(Vector2f(&_position(0)) - closest_pt).length() > _mc_cruise_speed) {
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/* Vehicle is more than cruise speed off track */
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if (_current_state != State::offtrack) {
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_destination = matrix::Vector3f(closest_pt(0), closest_pt(1), _target(2));
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_origin = _position;
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_current_state = State::offtrack;
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float angle = 2.0f;
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_speed_at_target = 0.0f;
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/* angle = cos(x) + 1.0
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* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
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if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
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(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
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angle = Vector2f(&(_destination - _origin)(0)).unit_or_zero()
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* Vector2f(&(_destination - _next_wp)(0)).unit_or_zero()
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+ 1.0f;
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_speed_at_target = _getVelcoityFromAngle(angle);
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}
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}
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} else {
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if ((_target - _destination).length() > 0.01f) {
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_destination = _target;
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_origin = _prev_wp;
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_current_state = State::none;
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float angle = 2.0f;
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_speed_at_target = 0.0f;
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/* angle = cos(x) + 1.0
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* angle goes from 0 to 2 with 0 = large angle, 2 = small angle: 0 = PI ; 2 = PI*0 */
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if (Vector2f(&(_destination - _next_wp)(0)).length() > 0.001f &&
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(Vector2f(&(_destination - _origin)(0)).length() > _nav_rad.get())) {
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angle =
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Vector2f(&(_destination - _origin)(0)).unit_or_zero()
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* Vector2f(&(_destination - _next_wp)(0)).unit_or_zero()
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+ 1.0f;
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_speed_at_target = _getVelcoityFromAngle(angle);
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}
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}
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}
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}
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void FlightTaskAutoLine::_generateXYsetpoints()
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{
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Vector2f pos_sp_to_dest = Vector2f(&_target(0)) - _pos_sp_xy;
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const bool has_reached_altitude = fabsf(_destination(2) - _position(2)) < _nav_rad.get();
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if ((_speed_at_target < 0.001f && pos_sp_to_dest.length() < _nav_rad.get()) ||
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(!has_reached_altitude && pos_sp_to_dest.length() < _nav_rad.get())) {
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/* Vehicle reached target in xy. Lock position */
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_pos_sp_xy = Vector2f(&_destination(0));
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_vel_sp_xy.zero();
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} else {
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Vector2f u_prev_to_dest = Vector2f(&(_destination - _origin)(0)).unit_or_zero();
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Vector2f prev_to_pos(&(_position - _origin)(0));
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Vector2f closest_pt = Vector2f(&_origin(0)) + u_prev_to_dest * (prev_to_pos * u_prev_to_dest);
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Vector2f closest_to_dest = Vector2f(&(_destination - _position)(0));
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Vector2f prev_to_dest = Vector2f(&(_destination - _origin)(0));
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float speed_sp_track = _mc_cruise_speed;
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float speed_sp_prev_track = math::max(_vel_sp_xy * u_prev_to_dest, 0.0f);
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/* Distance to target when brake should occur. The assumption is made that
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* 1.5 * cruising speed is enough to break. */
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float target_threshold = 1.5f * _mc_cruise_speed;
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float speed_threshold = _mc_cruise_speed;
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const float threshold_max = target_threshold;
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if (target_threshold < 0.5f * prev_to_dest.length()) {
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target_threshold = 0.5f * prev_to_dest.length();
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}
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/* Compute maximum speed at target threshold */
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if (threshold_max > _nav_rad.get()) {
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float m = (_mc_cruise_speed - _speed_at_target) / (threshold_max - _nav_rad.get());
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speed_threshold = m * (target_threshold - _nav_rad.get()) + _speed_at_target; // speed at transition
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}
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/* Either accelerate or decelerate */
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if (closest_to_dest.length() < target_threshold) {
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/* Vehicle is close to destination. Start to decelerate */
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if (!has_reached_altitude) {
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/* Altitude is not reached yet. Vehicle has to stop first before proceeding */
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_speed_at_target = 0.0f;
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}
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float acceptance_radius = _nav_rad.get();
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if (_speed_at_target < 0.01f) {
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acceptance_radius = 0.0f;
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}
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if ((target_threshold - acceptance_radius) >= SIGMA_NORM) {
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float m = (speed_threshold - _speed_at_target) / (target_threshold - acceptance_radius);
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speed_sp_track = m * (closest_to_dest.length() - acceptance_radius) + _speed_at_target; // speed at transition
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} else {
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speed_sp_track = _speed_at_target;
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}
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/* If we are close to target and the previous speed setpoint along track was smaller than
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* current speed setpoint along track, then take over the previous one.
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* This ensures smoothness since we anyway want to slow down
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*/
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if ((speed_sp_prev_track < speed_sp_track)
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&& (speed_sp_track * speed_sp_prev_track > 0.0f)
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&& (speed_sp_prev_track > _speed_at_target)) {
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speed_sp_track = speed_sp_prev_track;
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}
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} else {
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/* Vehicle is still far from destination. Accelerate or keep maximum target speed */
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float acc_track = (speed_sp_track - speed_sp_prev_track) / _deltatime;
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float yaw_diff = _wrap_pi(_yaw_wp - _yaw);
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/* If yaw offset is large, only accelerate with 0.5 m/s^2 */
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float acc_max = (fabsf(yaw_diff) > math::radians(_mis_yaw_error.get())) ? 0.5f : _acc_xy.get();
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if (acc_track > acc_max) {
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speed_sp_track = acc_max * _deltatime + speed_sp_prev_track;
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}
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}
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speed_sp_track = math::constrain(speed_sp_track, 0.0f, _mc_cruise_speed);
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_pos_sp_xy = closest_pt;
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_vel_sp_xy = u_prev_to_dest * speed_sp_track;
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}
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}
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void FlightTaskAutoLine::_generateAltitudeSetpoints()
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{
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/* Total distance between previous and target setpoint */
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const float dist = fabsf(_destination(2) - _origin(2));
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/* If target has not been reached, then compute setpoint depending on maximum velocity */
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if ((dist > SIGMA_NORM) && (fabsf(_position(2) - _destination(2)) > 0.1f)) {
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/* get various distances */
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const float dist_to_prev = fabsf(_position(2) - _origin(2));
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const float dist_to_target = fabsf(_destination(2) - _position(2));
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/* check sign */
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const bool flying_upward = _destination(2) < _position(2);
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/* Speed at threshold is by default maximum speed. Threshold defines
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* the point in z at which vehicle slows down to reach target altitude. */
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float speed_sp = (flying_upward) ? _vel_max_up.get() : _vel_max_down.get();
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/* target threshold defines the distance to target(2) at which
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* the vehicle starts to slow down to approach the target smoothly */
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float target_threshold = speed_sp * 1.5f;
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/* If the total distance in z is NOT 2x distance of target_threshold, we
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* will need to adjust the final_velocity in z */
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const bool is_2_target_threshold = dist >= 2.0f * target_threshold;
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const float min_vel = 0.2f; // minimum velocity: this is needed since estimation is not perfect
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const float slope = (speed_sp - min_vel) / (target_threshold); /* defines the the acceleration when slowing down */
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if (!is_2_target_threshold) {
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/* adjust final_velocity since we are already are close
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* to target and therefore it is not necessary to accelerate
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* up to full speed
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*/
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target_threshold = dist * 0.5f;
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/* get the velocity at target_threshold */
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speed_sp = slope * (target_threshold) + min_vel;
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}
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/* we want to slow down */
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if (dist_to_target < target_threshold) {
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speed_sp = slope * dist_to_target + min_vel;
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} else if (dist_to_prev < target_threshold) {
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/* we want to accelerate */
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const float acc = (speed_sp - fabsf(_vel_sp_z)) / _deltatime;
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const float acc_max = (flying_upward) ? (_acc_max_up.get() * 0.5f) : (_acc_max_down.get() * 0.5f);
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if (acc > acc_max) {
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speed_sp = acc_max * _deltatime + fabsf(_vel_sp_z);
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}
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}
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/* make sure vel_sp_z is always positive */
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if (speed_sp < 0.0f) {
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PX4_WARN("speed cannot be smaller than 0");
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speed_sp = 0.0f;
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}
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/* get the sign of vel_sp_z */
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_vel_sp_z = (flying_upward) ? -speed_sp : speed_sp;
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_pos_sp_z = NAN; // We don't care about position setpoint */
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} else {
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/* Vehicle reached desired target altitude */
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_vel_sp_z = 0.0f;
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_pos_sp_z = _target(2);
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}
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}
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void FlightTaskAutoLine::_generateVelocitySetpoints()
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{
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/* TODO: Remove velocity force logic from navigator, since
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* navigator should only send out waypoints. */
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_vel_sp_xy = Vector2f(&_velocity(0)).unit_or_zero() * _mc_cruise_speed;
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_vel_sp_z = 0.0f;
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_pos_sp_z = _position(2);
|
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_pos_sp_xy = Vector2f(NAN, NAN);
|
||||
}
|
||||
|
||||
float FlightTaskAutoLine::_getVelcoityFromAngle(const float angle)
|
||||
{
|
||||
/* Minimum cruise speed when passing waypoint */
|
||||
float min_cruise_speed = 0.0f;
|
||||
|
||||
/* Make sure that cruise speed is larger than minimum*/
|
||||
if ((_mc_cruise_speed - min_cruise_speed) < SIGMA_NORM) {
|
||||
return _mc_cruise_speed;
|
||||
}
|
||||
|
||||
/* Middle cruise speed is a number between maximum cruising speed and minimum cruising speed and corresponds to speed at angle of 90degrees.
|
||||
* It needs to be always larger than minimum cruise speed. */
|
||||
float middle_cruise_speed = _cruise_speed_90.get();
|
||||
|
||||
if ((middle_cruise_speed - min_cruise_speed) < SIGMA_NORM) {
|
||||
middle_cruise_speed = min_cruise_speed + SIGMA_NORM;
|
||||
}
|
||||
|
||||
if ((_mc_cruise_speed - middle_cruise_speed) < SIGMA_NORM) {
|
||||
middle_cruise_speed = (_mc_cruise_speed + min_cruise_speed) * 0.5f;
|
||||
}
|
||||
|
||||
/* If middle cruise speed is exactly in the middle, then compute
|
||||
* speed linearly
|
||||
*/
|
||||
bool use_linear_approach = false;
|
||||
|
||||
if (((_mc_cruise_speed + min_cruise_speed) * 0.5f) - middle_cruise_speed < SIGMA_NORM) {
|
||||
use_linear_approach = true;
|
||||
}
|
||||
|
||||
/* Compute speed sp at target */
|
||||
float speed_close;
|
||||
|
||||
if (use_linear_approach) {
|
||||
|
||||
/* velocity close to target adjusted to angle
|
||||
* vel_close = m*x+q
|
||||
*/
|
||||
float slope = -(_mc_cruise_speed - min_cruise_speed) / 2.0f;
|
||||
speed_close = slope * angle + _mc_cruise_speed;
|
||||
|
||||
} else {
|
||||
|
||||
/* Speed close to target adjusted to angle x.
|
||||
* speed_close = a *b ^x + c; where at angle x = 0 -> speed_close = cruise; angle x = 1 -> speed_close = middle_cruise_speed (this means that at 90degrees
|
||||
* the velocity at target is middle_cruise_speed);
|
||||
* angle x = 2 -> speed_close = min_cruising_speed */
|
||||
|
||||
/* from maximum cruise speed, minimum cruise speed and middle cruise speed compute constants a, b and c */
|
||||
float a = -((middle_cruise_speed - _mc_cruise_speed) * (middle_cruise_speed - _mc_cruise_speed))
|
||||
/ (2.0f * middle_cruise_speed - _mc_cruise_speed - min_cruise_speed);
|
||||
float c = _mc_cruise_speed - a;
|
||||
float b = (middle_cruise_speed - c) / a;
|
||||
speed_close = a * powf(b, angle) + c;
|
||||
}
|
||||
|
||||
/* speed_close needs to be in between max and min */
|
||||
return math::constrain(speed_close, min_cruise_speed, _mc_cruise_speed);
|
||||
}
|
||||
Reference in New Issue
Block a user