mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 08:00:34 +08:00
WIP, datalinkloss: implementing basic behavior
This commit is contained in:
Thomas Gubler
@@ -57,10 +57,14 @@
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DataLinkLoss::DataLinkLoss(Navigator *navigator, const char *name) :
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MissionBlock(navigator, name),
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_rtl_state(RTL_STATE_NONE),
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_param_return_alt(this, "RETURN_ALT"),
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_param_descend_alt(this, "DESCEND_ALT"),
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_param_land_delay(this, "LAND_DELAY")
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_dll_state(DLL_STATE_NONE),
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_param_commsholdwaittime(this, "CH_T"),
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_param_commsholdlat(this, "CH_LAT"),
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_param_commsholdlon(this, "CH_LON"),
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_param_commsholdalt(this, "CH_ALT"),
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_param_airfieldhomelat(this, "AH_LAT"),
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_param_airfieldhomelon(this, "AH_LON"),
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_param_airfieldhomealt(this, "AH_ALT")
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{
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/* load initial params */
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updateParams();
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@@ -77,7 +81,7 @@ DataLinkLoss::on_inactive()
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{
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/* reset RTL state only if setpoint moved */
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if (!_navigator->get_can_loiter_at_sp()) {
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_rtl_state = RTL_STATE_NONE;
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_dll_state = DLL_STATE_NONE;
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}
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}
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@@ -85,40 +89,40 @@ void
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DataLinkLoss::on_activation()
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{
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/* decide where to enter the RTL procedure when we switch into it */
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if (_rtl_state == RTL_STATE_NONE) {
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/* for safety reasons don't go into RTL if landed */
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if (_navigator->get_vstatus()->condition_landed) {
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_rtl_state = RTL_STATE_LANDED;
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
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//if (_rtl_state == RTL_STATE_NONE) {
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//[> for safety reasons don't go into RTL if landed <]
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//if (_navigator->get_vstatus()->condition_landed) {
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//_rtl_state = RTL_STATE_LANDED;
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//mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: no RTL when landed");
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/* if lower than return altitude, climb up first */
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} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
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+ _param_return_alt.get()) {
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_rtl_state = RTL_STATE_CLIMB;
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//[> if lower than return altitude, climb up first <]
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//} else if (_navigator->get_global_position()->alt < _navigator->get_home_position()->alt
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//+ _param_return_alt.get()) {
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//_rtl_state = RTL_STATE_CLIMB;
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/* otherwise go straight to return */
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} else {
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/* set altitude setpoint to current altitude */
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_rtl_state = RTL_STATE_RETURN;
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_mission_item.altitude_is_relative = false;
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_mission_item.altitude = _navigator->get_global_position()->alt;
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}
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}
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set_rtl_item();
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//[> otherwise go straight to return <]
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//} else {
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//[> set altitude setpoint to current altitude <]
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//_rtl_state = RTL_STATE_RETURN;
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//_mission_item.altitude_is_relative = false;
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//_mission_item.altitude = _navigator->get_global_position()->alt;
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//}
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//}
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_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
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set_dll_item();
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}
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void
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DataLinkLoss::on_active()
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{
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if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
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advance_rtl();
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set_rtl_item();
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if (is_mission_item_reached()) {
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advance_dll();
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set_dll_item();
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}
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}
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void
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DataLinkLoss::set_rtl_item()
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DataLinkLoss::set_dll_item()
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{
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struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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@@ -128,146 +132,43 @@ DataLinkLoss::set_rtl_item()
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set_previous_pos_setpoint();
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_navigator->set_can_loiter_at_sp(false);
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switch (_rtl_state) {
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case RTL_STATE_CLIMB: {
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float climb_alt = _navigator->get_home_position()->alt + _param_return_alt.get();
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_mission_item.lat = _navigator->get_global_position()->lat;
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_mission_item.lon = _navigator->get_global_position()->lon;
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switch (_dll_state) {
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case DLL_STATE_FLYTOCOMMSHOLDWP: {
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_mission_item.lat = (double)(_param_commsholdlat.get()) * 1.0e-7;
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_mission_item.lon = (double)(_param_commsholdlon.get()) * 1.0e-7;
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_mission_item.altitude_is_relative = false;
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_mission_item.altitude = climb_alt;
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_mission_item.yaw = NAN;
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.time_inside = 0.0f;
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = true;
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_mission_item.origin = ORIGIN_ONBOARD;
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: climb to %d meters above home",
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(int)(climb_alt - _navigator->get_home_position()->alt));
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break;
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}
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case RTL_STATE_RETURN: {
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_mission_item.lat = _navigator->get_home_position()->lat;
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_mission_item.lon = _navigator->get_home_position()->lon;
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// don't change altitude
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if (pos_sp_triplet->previous.valid) {
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/* if previous setpoint is valid then use it to calculate heading to home */
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_mission_item.yaw = get_bearing_to_next_waypoint(
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pos_sp_triplet->previous.lat, pos_sp_triplet->previous.lon,
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_mission_item.lat, _mission_item.lon);
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} else {
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/* else use current position */
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_mission_item.yaw = get_bearing_to_next_waypoint(
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_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
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_mission_item.lat, _mission_item.lon);
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}
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.time_inside = 0.0f;
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = true;
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_mission_item.origin = ORIGIN_ONBOARD;
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: return at %d meters above home",
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(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
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break;
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}
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case RTL_STATE_DESCEND: {
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_mission_item.lat = _navigator->get_home_position()->lat;
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_mission_item.lon = _navigator->get_home_position()->lon;
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_mission_item.altitude_is_relative = false;
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_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
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_mission_item.altitude = (double)(_param_commsholdalt.get());
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_mission_item.yaw = NAN;
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.time_inside = 0.0f;
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_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = false;
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_mission_item.origin = ORIGIN_ONBOARD;
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: descend to %d meters above home",
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(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
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break;
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}
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case RTL_STATE_LOITER: {
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bool autoland = _param_land_delay.get() > -DELAY_SIGMA;
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_mission_item.lat = _navigator->get_home_position()->lat;
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_mission_item.lon = _navigator->get_home_position()->lon;
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_mission_item.altitude_is_relative = false;
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_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();
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_mission_item.yaw = NAN;
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = autoland;
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_mission_item.autocontinue = true;
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_mission_item.origin = ORIGIN_ONBOARD;
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_navigator->set_can_loiter_at_sp(true);
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if (autoland) {
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: loiter %.1fs", (double)_mission_item.time_inside);
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} else {
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, loiter");
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}
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break;
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}
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case RTL_STATE_LAND: {
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_mission_item.lat = _navigator->get_home_position()->lat;
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_mission_item.lon = _navigator->get_home_position()->lon;
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case DLL_STATE_FLYTOAIRFIELDHOMEWP: {
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_mission_item.lat = (double)(_param_airfieldhomelat.get()) * 1.0e-7;
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_mission_item.lon = (double)(_param_airfieldhomelon.get()) * 1.0e-7;
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_mission_item.altitude_is_relative = false;
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_mission_item.altitude = _navigator->get_home_position()->alt;
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_mission_item.altitude = (double)(_param_airfieldhomealt.get());
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_mission_item.yaw = NAN;
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = NAV_CMD_LAND;
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_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.time_inside = 0.0f;
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_mission_item.time_inside = _param_commsholdwaittime.get() < 0.0f ? 0.0f : _param_commsholdwaittime.get();
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = true;
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_mission_item.origin = ORIGIN_ONBOARD;
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: land at home");
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_navigator->set_can_loiter_at_sp(true);
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break;
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}
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case RTL_STATE_LANDED: {
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_mission_item.lat = _navigator->get_home_position()->lat;
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_mission_item.lon = _navigator->get_home_position()->lon;
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_mission_item.altitude_is_relative = false;
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_mission_item.altitude = _navigator->get_home_position()->alt;
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_mission_item.yaw = NAN;
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_mission_item.loiter_radius = _navigator->get_loiter_radius();
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_mission_item.loiter_direction = 1;
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_mission_item.nav_cmd = NAV_CMD_IDLE;
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_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
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_mission_item.time_inside = 0.0f;
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_mission_item.pitch_min = 0.0f;
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_mission_item.autocontinue = true;
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_mission_item.origin = ORIGIN_ONBOARD;
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mavlink_log_info(_navigator->get_mavlink_fd(), "#audio: RTL: completed, landed");
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break;
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}
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default:
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break;
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}
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@@ -282,35 +183,16 @@ DataLinkLoss::set_rtl_item()
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}
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void
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DataLinkLoss::advance_rtl()
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DataLinkLoss::advance_dll()
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{
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switch (_rtl_state) {
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case RTL_STATE_CLIMB:
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_rtl_state = RTL_STATE_RETURN;
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switch (_dll_state) {
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case DLL_STATE_NONE:
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_dll_state = DLL_STATE_FLYTOCOMMSHOLDWP;
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break;
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case RTL_STATE_RETURN:
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_rtl_state = RTL_STATE_DESCEND;
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case DLL_STATE_FLYTOCOMMSHOLDWP:
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//XXX check here if time is over are over
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_dll_state = DLL_STATE_FLYTOAIRFIELDHOMEWP;
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break;
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case RTL_STATE_DESCEND:
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/* only go to land if autoland is enabled */
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if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
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_rtl_state = RTL_STATE_LOITER;
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} else {
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_rtl_state = RTL_STATE_LAND;
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}
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break;
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case RTL_STATE_LOITER:
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_rtl_state = RTL_STATE_LAND;
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break;
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case RTL_STATE_LAND:
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_rtl_state = RTL_STATE_LANDED;
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break;
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default:
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break;
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}
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@@ -68,28 +68,27 @@ public:
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private:
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/**
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* Set the RTL item
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* Set the DLL item
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*/
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void set_rtl_item();
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void set_dll_item();
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/**
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* Move to next RTL item
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* Move to next DLL item
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*/
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void advance_rtl();
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void advance_dll();
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enum RTLState {
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RTL_STATE_NONE = 0,
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RTL_STATE_CLIMB,
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RTL_STATE_RETURN,
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RTL_STATE_DESCEND,
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RTL_STATE_LOITER,
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RTL_STATE_LAND,
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RTL_STATE_LANDED,
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} _rtl_state;
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enum DLLState {
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DLL_STATE_NONE = 0,
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DLL_STATE_FLYTOCOMMSHOLDWP = 1,
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DLL_STATE_FLYTOAIRFIELDHOMEWP = 2,
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} _dll_state;
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control::BlockParamFloat _param_return_alt;
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control::BlockParamFloat _param_descend_alt;
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control::BlockParamFloat _param_land_delay;
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control::BlockParamFloat _param_commsholdwaittime;
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control::BlockParamInt _param_commsholdlat; // * 1e7
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control::BlockParamInt _param_commsholdlon; // * 1e7
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control::BlockParamFloat _param_commsholdalt;
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control::BlockParamInt _param_airfieldhomelat; // * 1e7
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control::BlockParamInt _param_airfieldhomelon; // * 1e7
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control::BlockParamFloat _param_airfieldhomealt;
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};
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#endif
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@@ -32,11 +32,11 @@
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****************************************************************************/
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/**
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* @file rtl_params.c
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* @file datalinkloss_params.c
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*
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* Parameters for RTL
|
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* Parameters for DLL
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*
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* @author Julian Oes <julian@oes.ch>
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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#include <nuttx/config.h>
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@@ -44,55 +44,82 @@
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#include <systemlib/param/param.h>
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/*
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* RTL parameters, accessible via MAVLink
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* Data Link Loss parameters, accessible via MAVLink
|
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*/
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||||
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/**
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* Loiter radius after RTL (FW only)
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||||
* Comms hold wait time
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*
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||||
* Default value of loiter radius after RTL (fixedwing only).
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*
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* @unit meters
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||||
* @min 0.0
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||||
* @group RTL
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||||
*/
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PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
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/**
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* RTL altitude
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*
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* Altitude to fly back in RTL in meters
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||||
*
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||||
* @unit meters
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* @min 0
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* @max 1
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||||
* @group RTL
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||||
*/
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||||
PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 100);
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/**
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* RTL loiter altitude
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*
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* Stay at this altitude above home position after RTL descending.
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||||
* Land (i.e. slowly descend) from this altitude if autolanding allowed.
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*
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* @unit meters
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* @min 0
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* @max 100
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||||
* @group RTL
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||||
*/
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||||
PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 20);
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||||
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||||
/**
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* RTL delay
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||||
*
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||||
* Delay after descend before landing in RTL mode.
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||||
* If set to -1 the system will not land but loiter at NAV_LAND_ALT.
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||||
* The amount of time in seconds the system should wait at the comms hold waypoint
|
||||
*
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||||
* @unit seconds
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||||
* @min -1
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||||
* @max
|
||||
* @group RTL
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
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||||
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
|
||||
PARAM_DEFINE_FLOAT(NAV_DLL_CH_T, 120.0f);
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||||
|
||||
/**
|
||||
* Comms hold Lat
|
||||
*
|
||||
* Latitude of comms hold waypoint
|
||||
*
|
||||
* @unit degrees * 1e7
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(NAV_DLL_CH_LAT, 266072120);
|
||||
|
||||
/**
|
||||
* Comms hold Lon
|
||||
*
|
||||
* Longitude of comms hold waypoint
|
||||
*
|
||||
* @unit degrees * 1e7
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(NAV_DLL_CH_LON, 1518453890);
|
||||
|
||||
/**
|
||||
* Comms hold alt
|
||||
*
|
||||
* Altitude of comms hold waypoint
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(NAV_DLL_CH_ALT, 600.0f);
|
||||
|
||||
/**
|
||||
* Airfield home Lat
|
||||
*
|
||||
* Latitude of airfield home waypoint
|
||||
*
|
||||
* @unit degrees * 1e7
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(NAV_DLL_AH_LAT, 265847810);
|
||||
|
||||
/**
|
||||
* Airfield home Lon
|
||||
*
|
||||
* Longitude of airfield home waypoint
|
||||
*
|
||||
* @unit degrees * 1e7
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
|
||||
PARAM_DEFINE_INT32(NAV_DLL_AH_LON, 1518423250);
|
||||
|
||||
/**
|
||||
* Airfield home alt
|
||||
*
|
||||
* Altitude of airfield home waypoint
|
||||
*
|
||||
* @unit m
|
||||
* @min 0.0
|
||||
* @group DLL
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(NAV_DLL_AH_ALT, 600.0f);
|
||||
|
||||
Reference in New Issue
Block a user