fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 06:03:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Convert NPFG to local coordinates

Browse Source
This commit is contained in:
Jaeyoung-Lim
2022-03-23 13:34:13 +01:00
committed by JaeyoungLim
parent f804b3516f
commit 71bfb9c0de
3 changed files with 52 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/npfg/npfg.cpp
+8 -21
View File
@@ -518,8 +518,8 @@ float NPFG::lateralAccel(const Vector2f &air_vel, const Vector2f &air_vel_ref, c
* PX4 NAVIGATION INTERFACE FUNCTIONS (provide similar functionality to ECL_L1_Pos_Controller)
*/
void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoint_B,
const Vector2d &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
void NPFG::navigateWaypoints(const Vector2f &waypoint_A, const Vector2f &waypoint_B,
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
// similar to logic found in ECL_L1_Pos_Controller method of same name
// BUT no arbitrary max approach angle, approach entirely determined by generated
@@ -527,8 +527,8 @@ void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoin
path_type_loiter_ = false;
Vector2f vector_A_to_B = getLocalPlanarVector(waypoint_A, waypoint_B);
Vector2f vector_A_to_vehicle = getLocalPlanarVector(waypoint_A, vehicle_pos);
Vector2f vector_A_to_B = waypoint_B - waypoint_A;
Vector2f vector_A_to_vehicle = vehicle_pos - waypoint_A;
if (vector_A_to_B.norm() < NPFG_EPSILON) {
// the waypoints are on top of each other and should be considered as a
@@ -573,14 +573,14 @@ void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoin
updateRollSetpoint();
} // navigateWaypoints
void NPFG::navigateLoiter(const Vector2d &loiter_center, const Vector2d &vehicle_pos,
void NPFG::navigateLoiter(const Vector2f &loiter_center, const Vector2f &vehicle_pos,
float radius, int8_t loiter_direction, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
path_type_loiter_ = true;
radius = math::max(radius, MIN_RADIUS);
Vector2f vector_center_to_vehicle = getLocalPlanarVector(loiter_center, vehicle_pos);
Vector2f vector_center_to_vehicle = vehicle_pos - loiter_center;
const float dist_to_center = vector_center_to_vehicle.norm();
// find the direction from the circle center to the closest point on its perimeter
@@ -618,7 +618,7 @@ void NPFG::navigateLoiter(const Vector2d &loiter_center, const Vector2d &vehicle
} // navigateLoiter
void NPFG::navigatePathTangent(const matrix::Vector2d &vehicle_pos, const matrix::Vector2d &position_setpoint,
void NPFG::navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint,
const matrix::Vector2f &tangent_setpoint,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
{
@@ -628,7 +628,7 @@ void NPFG::navigatePathTangent(const matrix::Vector2d &vehicle_pos, const matrix
unit_path_tangent_ = tangent_setpoint.normalized();
// closest point to vehicle
matrix::Vector2f error_vector = getLocalPlanarVector(position_setpoint, vehicle_pos);
matrix::Vector2f error_vector = vehicle_pos - position_setpoint;
signed_track_error_ = unit_path_tangent_.cross(error_vector);
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, curvature);
@@ -684,19 +684,6 @@ float NPFG::switchDistance(float wp_radius) const
return math::min(wp_radius, track_error_bound_ * switch_distance_multiplier_);
} // switchDistance
Vector2f NPFG::getLocalPlanarVector(const Vector2d &origin, const Vector2d &target) const
{
/* this is an approximation for small angles, proposed by [2] */
const double x_angle = math::radians(target(0) - origin(0));
const double y_angle = math::radians(target(1) - origin(1));
const double x_origin_cos = cos(math::radians(origin(0)));
return Vector2f{
static_cast<float>(x_angle * CONSTANTS_RADIUS_OF_EARTH),
static_cast<float>(y_angle *x_origin_cos * CONSTANTS_RADIUS_OF_EARTH),
};
} // getLocalPlanarVector
void NPFG::updateRollSetpoint()
{
float roll_new = atanf(lateral_accel_ * 1.0f / CONSTANTS_ONE_G);
src/lib/npfg/npfg.hpp
+4 -19
View File
@@ -228,8 +228,8 @@ public:
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s]
*/
void navigateWaypoints(const matrix::Vector2d &waypoint_A, const matrix::Vector2d &waypoint_B,
const matrix::Vector2d &vehicle_pos, const matrix::Vector2f &ground_vel,
void navigateWaypoints(const matrix::Vector2f &waypoint_A, const matrix::Vector2f &waypoint_B,
const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &ground_vel,
const matrix::Vector2f &wind_vel);
/*
@@ -244,7 +244,7 @@ public:
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s]
*/
void navigateLoiter(const matrix::Vector2d &loiter_center, const matrix::Vector2d &vehicle_pos,
void navigateLoiter(const matrix::Vector2f &loiter_center, const matrix::Vector2f &vehicle_pos,
float radius, int8_t loiter_direction, const matrix::Vector2f &ground_vel,
const matrix::Vector2f &wind_vel);
@@ -259,7 +259,7 @@ public:
* @param[in] wind_vel Wind velocity vector [m/s]
* @param[in] curvature of the path setpoint [1/m]
*/
void navigatePathTangent(const matrix::Vector2d &vehicle_pos, const matrix::Vector2d &position_setpoint,
void navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint,
const matrix::Vector2f &tangent_setpoint,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature);
@@ -721,21 +721,6 @@ private:
* PX4 POSITION SETPOINT INTERFACE FUNCTIONS
*/
/**
* [Copied directly from ECL_L1_Pos_Controller]
*
* Convert a 2D vector from WGS84 to planar coordinates.
*
* This converts from latitude and longitude to planar
* coordinates with (0,0) being at the position of ref and
* returns a vector in meters towards wp.
*
* @param ref The reference position in WGS84 coordinates
* @param wp The point to convert to into the local coordinates, in WGS84 coordinates
* @return The vector in meters pointing from the reference position to the coordinates
*/
matrix::Vector2f getLocalPlanarVector(const matrix::Vector2d &origin, const matrix::Vector2d &target) const;
/**
* [Copied directly from ECL_L1_Pos_Controller]
*