mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-11-02 08:21:37 +08:00
fw pos control: revert name until we delineate this module a bit more (#21442)
This commit is contained in:
Thomas Stastny
@@ -0,0 +1,36 @@
|
||||
############################################################################
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
px4_add_library(launchdetection
|
||||
LaunchDetector.cpp
|
||||
)
|
||||
@@ -0,0 +1,121 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2022 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 launchDetection.cpp
|
||||
* Auto launch detection for catapult/hand-launch vehicles
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
#include "LaunchDetector.h"
|
||||
|
||||
#include <px4_platform_common/log.h>
|
||||
#include <px4_platform_common/events.h>
|
||||
|
||||
namespace launchdetection
|
||||
{
|
||||
|
||||
void LaunchDetector::update(const float dt, const float accel_x)
|
||||
{
|
||||
switch (state_) {
|
||||
case launch_detection_status_s::STATE_WAITING_FOR_LAUNCH:
|
||||
|
||||
info_delay_counter_s_ += dt;
|
||||
|
||||
/* Inform user that launchdetection is running every kInfoDelay seconds */
|
||||
if (info_delay_counter_s_ >= kInfoDelay) {
|
||||
events::send(events::ID("launch_detection_running_info"), events::Log::Info, "Launch detection running");
|
||||
info_delay_counter_s_ = 0.f; // reset counter
|
||||
}
|
||||
|
||||
/* Detect a acceleration that is longer and stronger as the minimum given by the params */
|
||||
if (accel_x > param_fw_laun_ac_thld_.get()) {
|
||||
acceleration_detected_counter_ += dt;
|
||||
|
||||
if (acceleration_detected_counter_ > param_fw_laun_ac_t_.get()) {
|
||||
if (param_fw_laun_mot_del_.get() > 0.f) {
|
||||
state_ = launch_detection_status_s::STATE_LAUNCH_DETECTED_DISABLED_MOTOR;
|
||||
events::send<float>(events::ID("launch_detection_wait_for_throttle"), {events::Log::Info, events::LogInternal::Info},
|
||||
"Launch detected: enablecontrol, waiting {1:.1}s until full throttle", (double)param_fw_laun_mot_del_.get());
|
||||
|
||||
} else {
|
||||
/* No motor delay set: go directly to enablemotors state */
|
||||
state_ = launch_detection_status_s::STATE_FLYING;
|
||||
events::send(events::ID("launch_detection_no_motor_delay"), {events::Log::Info, events::LogInternal::Info},
|
||||
"Launch detected: enable motors (no motor delay)");
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
acceleration_detected_counter_ = 0.f;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case launch_detection_status_s::STATE_LAUNCH_DETECTED_DISABLED_MOTOR:
|
||||
/* Vehicle is currently controlling attitude but at idle throttle. Waiting until delay is
|
||||
* over to allow full throttle */
|
||||
motor_delay_counter_ += dt;
|
||||
|
||||
if (motor_delay_counter_ > param_fw_laun_mot_del_.get()) {
|
||||
events::send(events::ID("launch_detection_enable_motors"), {events::Log::Info, events::LogInternal::Info},
|
||||
"Launch detected: enable motors");
|
||||
state_ = launch_detection_status_s::STATE_FLYING;
|
||||
}
|
||||
|
||||
info_delay_counter_s_ = kInfoDelay; // reset counter
|
||||
|
||||
break;
|
||||
|
||||
default: // state flying
|
||||
info_delay_counter_s_ = kInfoDelay; // reset counter
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
uint LaunchDetector::getLaunchDetected() const
|
||||
{
|
||||
return state_;
|
||||
}
|
||||
|
||||
void LaunchDetector::reset()
|
||||
{
|
||||
info_delay_counter_s_ = 0.f;
|
||||
acceleration_detected_counter_ = 0.f;
|
||||
motor_delay_counter_ = 0.f;
|
||||
state_ = launch_detection_status_s::STATE_WAITING_FOR_LAUNCH;
|
||||
}
|
||||
|
||||
|
||||
} // namespace launchdetection
|
||||
@@ -0,0 +1,117 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2022 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 LaunchDetector.h
|
||||
* Auto launch detection for catapult/hand-launch vehicles
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
#ifndef LAUNCHDETECTOR_H
|
||||
#define LAUNCHDETECTOR_H
|
||||
|
||||
#include <px4_platform_common/module_params.h>
|
||||
#include <uORB/topics/launch_detection_status.h>
|
||||
|
||||
namespace launchdetection
|
||||
{
|
||||
|
||||
// Info delay threshold (to publish info every kInfoDelay seconds)
|
||||
static constexpr float kInfoDelay = 4.f;
|
||||
|
||||
class __EXPORT LaunchDetector : public ModuleParams
|
||||
{
|
||||
public:
|
||||
LaunchDetector(ModuleParams *parent) : ModuleParams(parent) {}
|
||||
~LaunchDetector() = default;
|
||||
|
||||
LaunchDetector(const LaunchDetector &) = delete;
|
||||
LaunchDetector operator=(const LaunchDetector &) = delete;
|
||||
|
||||
/**
|
||||
* @brief Reset launch detection state machine.
|
||||
*/
|
||||
void reset();
|
||||
|
||||
/**
|
||||
* @brief Updates the state machine based on the current vehicle condition.
|
||||
*
|
||||
* @param dt Time step [us]
|
||||
* @param accel_x Measured acceleration in body x [m/s/s]
|
||||
*/
|
||||
void update(const float dt, const float accel_x);
|
||||
|
||||
/**
|
||||
* @brief Get the Launch Detected state
|
||||
*
|
||||
* @return uint (aligned with launch_detection_status_s::launch_detection_state)
|
||||
*/
|
||||
uint getLaunchDetected() const;
|
||||
|
||||
/**
|
||||
* @brief Forces state of launch detection state machine to STATE_FLYING.
|
||||
*/
|
||||
void forceSetFlyState() { state_ = launch_detection_status_s::STATE_FLYING; }
|
||||
|
||||
private:
|
||||
/**
|
||||
* Motor delay counter [s]
|
||||
*/
|
||||
float motor_delay_counter_{0.f};
|
||||
|
||||
/**
|
||||
* Info delay counter (to publish info every kInfoDelay seconds) [s]
|
||||
*/
|
||||
float info_delay_counter_s_{kInfoDelay};
|
||||
|
||||
/**
|
||||
* Counter for how long the measured acceleration is above the defined threshold [s]
|
||||
*/
|
||||
float acceleration_detected_counter_{0.f};
|
||||
|
||||
/**
|
||||
* Current state of the launch detection state machine [launch_detection_status_s::launch_detection_state]
|
||||
*/
|
||||
uint state_{launch_detection_status_s::STATE_WAITING_FOR_LAUNCH};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamFloat<px4::params::FW_LAUN_AC_THLD>) param_fw_laun_ac_thld_,
|
||||
(ParamFloat<px4::params::FW_LAUN_AC_T>) param_fw_laun_ac_t_,
|
||||
(ParamFloat<px4::params::FW_LAUN_MOT_DEL>) param_fw_laun_mot_del_
|
||||
)
|
||||
};
|
||||
|
||||
} // namespace launchdetection
|
||||
|
||||
#endif // LAUNCHDETECTOR_H
|
||||
@@ -0,0 +1,81 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013, 2014 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 launchdetection_params.c
|
||||
*
|
||||
* Parameters for launchdetection
|
||||
*
|
||||
* @author Thomas Gubler <thomasgubler@gmail.com>
|
||||
*/
|
||||
|
||||
/**
|
||||
* Trigger acceleration threshold
|
||||
*
|
||||
* Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.
|
||||
*
|
||||
* @unit m/s^2
|
||||
* @min 0
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group FW Launch detection
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_LAUN_AC_THLD, 30.0f);
|
||||
|
||||
/**
|
||||
* Trigger time
|
||||
*
|
||||
* Launch is detected when acceleration in body forward direction is above FW_LAUN_AC_THLD for FW_LAUN_AC_T seconds.
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.0
|
||||
* @max 5.0
|
||||
* @decimal 2
|
||||
* @increment 0.05
|
||||
* @group FW Launch detection
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_LAUN_AC_T, 0.05f);
|
||||
|
||||
/**
|
||||
* Motor delay
|
||||
*
|
||||
* Start the motor(s) this amount of seconds after launch is detected.
|
||||
*
|
||||
* @unit s
|
||||
* @min 0.0
|
||||
* @max 10.0
|
||||
* @decimal 1
|
||||
* @increment 0.5
|
||||
* @group FW Launch detection
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(FW_LAUN_MOT_DEL, 0.0f);
|
||||
Reference in New Issue
Block a user