mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 05:20:35 +08:00
move runway_takeoff lib to fw_pos_control_l1
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
f73f95965a
commit
6f248bc7e9
@@ -32,6 +32,7 @@
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############################################################################
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add_subdirectory(launchdetection)
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add_subdirectory(runway_takeoff)
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px4_add_module(
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MODULE modules__fw_pos_control_l1
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@@ -45,4 +46,5 @@ px4_add_module(
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git_ecl
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lib__ecl
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launchdetection
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runway_takeoff
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)
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@@ -57,13 +57,13 @@
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#include "Landingslope.hpp"
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#include "launchdetection/LaunchDetector.h"
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#include "runway_takeoff/RunwayTakeoff.h"
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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 <geo/geo.h>
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#include <mathlib/mathlib.h>
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#include <runway_takeoff/RunwayTakeoff.h>
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#include <systemlib/perf_counter.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/airspeed.h>
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@@ -0,0 +1,36 @@
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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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px4_add_library(runway_takeoff
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RunwayTakeoff.cpp
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)
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@@ -0,0 +1,285 @@
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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
|
||||
* 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,
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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 <systemlib/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(nullptr, "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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_throttle_ramp_time(2 * 1e6),
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_runway_takeoff_enabled(this, "TKOFF"),
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_heading_mode(this, "HDG"),
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_nav_alt(this, "NAV_ALT"),
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_takeoff_throttle(this, "MAX_THR"),
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_runway_pitch_sp(this, "PSP"),
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_max_takeoff_pitch(this, "MAX_PITCH"),
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_max_takeoff_roll(this, "MAX_ROLL"),
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_min_airspeed_scaling(this, "AIRSPD_SCL"),
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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, double current_lat, double current_lon)
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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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_climbout = true; // this is true until climbout is finished
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_start_wp(0) = (float)current_lat;
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_start_wp(1) = (float)current_lon;
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}
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void RunwayTakeoff::update(float airspeed, float alt_agl,
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double current_lat, double current_lon, orb_advert_t *mavlink_log_pub)
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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) > _throttle_ramp_time) {
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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.get()) {
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_state = RunwayTakeoffState::TAKEOFF;
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mavlink_log_info(mavlink_log_pub, "#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 > _nav_alt.get()) {
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_state = RunwayTakeoffState::CLIMBOUT;
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/*
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* If we started in heading hold mode, move the navigation start WP to the current location now.
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* The navigator will take this as starting point to navigate towards the takeoff WP.
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*/
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if (_heading_mode.get() == 0) {
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_start_wp(0) = (float)current_lat;
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_start_wp(1) = (float)current_lon;
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}
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mavlink_log_info(mavlink_log_pub, "#Climbout");
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}
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break;
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case RunwayTakeoffState::CLIMBOUT:
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if (alt_agl > _climbout_diff.get()) {
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_climbout = false;
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_state = RunwayTakeoffState::FLY;
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mavlink_log_info(mavlink_log_pub, "#Navigating to waypoint");
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}
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break;
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default:
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break;
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}
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}
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/*
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* Returns true as long as we're below navigation altitude
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*/
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bool RunwayTakeoff::controlYaw()
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{
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// keep controlling yaw directly until we start navigation
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return _state < RunwayTakeoffState::CLIMBOUT;
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}
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/*
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* Returns pitch setpoint to use.
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*
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* Limited (parameter) as long as the plane is on runway. Otherwise
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* use the one from TECS
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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_pitch_sp.get());
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}
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return tecsPitch;
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}
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/*
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* Returns the roll setpoint to use.
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*/
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float RunwayTakeoff::getRoll(float navigatorRoll)
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{
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// until we have enough ground clearance, set roll to 0
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if (_state < RunwayTakeoffState::CLIMBOUT) {
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return 0.0f;
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}
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// allow some roll during climbout
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else if (_state < RunwayTakeoffState::FLY) {
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return math::constrain(navigatorRoll,
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math::radians(-_max_takeoff_roll.get()),
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math::radians(_max_takeoff_roll.get()));
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}
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return navigatorRoll;
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}
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/*
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* Returns the yaw setpoint to use.
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*
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* In heading hold mode (_heading_mode == 0), it returns initial yaw as long as it's on the
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* runway. When it has enough ground clearance we start navigation towards WP.
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*/
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float RunwayTakeoff::getYaw(float navigatorYaw)
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{
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if (_heading_mode.get() == 0 && _state < RunwayTakeoffState::CLIMBOUT) {
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return _init_yaw;
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} else {
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return navigatorYaw;
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}
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}
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/*
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* Returns the throttle setpoint to use.
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*
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* Ramps up in the beginning, until it lifts off the runway it is set to
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* parameter value, then it returns the TECS throttle.
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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)_throttle_ramp_time *
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_takeoff_throttle.get();
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return throttle < _takeoff_throttle.get() ?
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throttle :
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_takeoff_throttle.get();
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}
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case RunwayTakeoffState::CLAMPED_TO_RUNWAY:
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return _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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// reset integrators if we're still on runway
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return _state < RunwayTakeoffState::TAKEOFF;
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}
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/*
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* Returns the minimum pitch for TECS to use.
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*
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* In climbout we either want what was set on the waypoint (sp_min) but at least
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* the climbtout minimum pitch (parameter).
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* Otherwise use the minimum that is enforced generally (parameter).
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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 (_state < RunwayTakeoffState::FLY) {
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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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/*
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* Returns the maximum pitch for TECS to use.
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*
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* Limited by parameter (if set) until climbout is done.
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*/
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float RunwayTakeoff::getMaxPitch(float max)
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{
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// use max pitch from parameter if set (> 0.1)
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if (_state < RunwayTakeoffState::FLY && _max_takeoff_pitch.get() > 0.1f) {
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return _max_takeoff_pitch.get();
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}
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else {
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return max;
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}
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}
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/*
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* Returns the "previous" (start) WP for navigation.
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*/
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math::Vector<2> RunwayTakeoff::getStartWP()
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{
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return _start_wp;
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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 +1,121 @@
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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
|
||||
* 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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/**
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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 <systemlib/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, /**< ramping up throttle */
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CLAMPED_TO_RUNWAY = 1, /**< clamped to runway, controlling yaw directly (wheel or rudder) */
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TAKEOFF = 2, /**< taking off, get ground clearance, roll 0 */
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CLIMBOUT = 3, /**< climbout to safe height before navigation, roll limited */
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FLY = 4 /**< fly towards takeoff waypoint */
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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, double current_lat, double current_lon);
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void update(float airspeed, float alt_agl, double current_lat, double current_lon, orb_advert_t *mavlink_log_pub);
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RunwayTakeoffState getState() { return _state; }
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bool isInitialized() { return _initialized; }
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bool runwayTakeoffEnabled() { return _runway_takeoff_enabled.get(); }
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float getMinAirspeedScaling() { return _min_airspeed_scaling.get(); }
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float getInitYaw() { return _init_yaw; }
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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 getMinPitch(float sp_min, float climbout_min, float min);
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float getMaxPitch(float max);
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math::Vector<2> getStartWP();
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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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unsigned _throttle_ramp_time;
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math::Vector<2> _start_wp;
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/** parameters **/
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control::BlockParamBool _runway_takeoff_enabled;
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control::BlockParamInt _heading_mode;
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control::BlockParamFloat _nav_alt;
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control::BlockParamFloat _takeoff_throttle;
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control::BlockParamFloat _runway_pitch_sp;
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control::BlockParamFloat _max_takeoff_pitch;
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control::BlockParamFloat _max_takeoff_roll;
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control::BlockParamFloat _min_airspeed_scaling;
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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 +1,146 @@
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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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file runway_takeoff_params.c
|
||||
*
|
||||
* Parameters for runway takeoff
|
||||
*
|
||||
* @author Andreas Antener <andreas@uaventure.com>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Runway takeoff with landing gear
|
||||
*
|
||||
* @boolean
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_INT32(RWTO_TKOFF, 0);
|
||||
|
||||
/**
|
||||
* Specifies which heading should be held during runnway takeoff.
|
||||
*
|
||||
* 0: airframe heading, 1: heading towards takeoff waypoint
|
||||
*
|
||||
* @value 0 Airframe
|
||||
* @value 1 Waypoint
|
||||
* @min 0
|
||||
* @max 1
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_INT32(RWTO_HDG, 0);
|
||||
|
||||
/**
|
||||
* Altitude AGL at which we have enough ground clearance to allow some roll.
|
||||
* Until RWTO_NAV_ALT is reached the plane is held level and only
|
||||
* rudder is used to keep the heading (see RWTO_HDG). This should be below
|
||||
* FW_CLMBOUT_DIFF if FW_CLMBOUT_DIFF > 0.
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @max 100.0
|
||||
* @decimal 1
|
||||
* @increment 1
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RWTO_NAV_ALT, 5.0);
|
||||
|
||||
/**
|
||||
* Max throttle during runway takeoff.
|
||||
* (Can be used to test taxi on runway)
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 1.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RWTO_MAX_THR, 1.0);
|
||||
|
||||
/**
|
||||
* Pitch setpoint during taxi / before takeoff airspeed is reached.
|
||||
* A taildragger with stearable wheel might need to pitch up
|
||||
* a little to keep it's wheel on the ground before airspeed
|
||||
* to takeoff is reached.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 20.0
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RWTO_PSP, 0.0);
|
||||
|
||||
/**
|
||||
* Max pitch during takeoff.
|
||||
* Fixed-wing settings are used if set to 0. Note that there is also a minimum
|
||||
* pitch of 10 degrees during takeoff, so this must be larger if set.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 60.0
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RWTO_MAX_PITCH, 20.0);
|
||||
|
||||
/**
|
||||
* Max roll during climbout.
|
||||
* Roll is limited during climbout to ensure enough lift and prevents aggressive
|
||||
* navigation before we're on a safe height.
|
||||
*
|
||||
* @unit deg
|
||||
* @min 0.0
|
||||
* @max 60.0
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RWTO_MAX_ROLL, 25.0);
|
||||
|
||||
/**
|
||||
* Min. airspeed scaling factor for takeoff.
|
||||
* Pitch up will be commanded when the following airspeed is reached:
|
||||
* FW_AIRSPD_MIN * RWTO_AIRSPD_SCL
|
||||
*
|
||||
* @unit norm
|
||||
* @min 0.0
|
||||
* @max 2.0
|
||||
* @decimal 2
|
||||
* @increment 0.01
|
||||
* @group Runway Takeoff
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(RWTO_AIRSPD_SCL, 1.3);
|
||||
Reference in New Issue
Block a user