fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-05 19:30:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'fw_autoland' into fw_autoland_att_tecs

Browse Source
This commit is contained in:
Thomas Gubler
2013-11-01 14:37:54 +01:00
parent 6fefa45381 116ee348a2
commit 8a95d3a57a
1 changed files with 33 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+33 -10
View File
@@ -283,6 +283,11 @@ private:
*/
void vehicle_setpoint_poll();
/**
* Get Altitude on the landing glide slope
*/
float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad);
/**
* Control position.
*/
@@ -632,6 +637,11 @@ FixedwingPositionControl::calculate_gndspeed_undershoot()
}
}
float FixedwingPositionControl::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad)
{
return wp_distance * tanf(landing_slope_angle_rad) + wp_altitude;
}
bool
FixedwingPositionControl::control_position(const math::Vector2f &current_position, const math::Vector2f &ground_speed,
const struct vehicle_global_position_set_triplet_s &global_triplet)
@@ -737,8 +747,8 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
} else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) {
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), current_position.getX(), current_position.getY());
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
if (wp_distance < 15.0f || land_noreturn) {
@@ -766,16 +776,16 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* normal navigation */
_l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
}
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
/* Vertical landing control */
// /* do not go down too early */
// if (wp_distance > 50.0f) {
// altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt;
// }
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
// XXX this could make a great param
@@ -786,7 +796,10 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float airspeed_approach = (_parameters.airspeed_min + _parameters.airspeed_trim) / 2.0f;
const float landing_slope_angle_rad = 20.0f/180.0f*M_PI_F; //xxx: param
float landing_slope_alt_desired = wp_distance * tanf(landing_slope_angle_rad);
const float landingslope_length = 64.0f;
const float L_wp_distance = cosf(landing_slope_angle_rad) * landingslope_length;
float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad);
float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _global_triplet.current.altitude, landing_slope_angle_rad);
if (altitude_error > -4.0f) {
@@ -807,7 +820,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* limit roll motion to prevent wings from touching the ground first */
_att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
} else if (wp_distance < 60.0f || altitude_error > -20.0f) {
} else if (wp_distance < L_wp_distance) {
/* minimize speed to approach speed, stay on glide slope */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach),
@@ -819,10 +832,20 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
} else {
/* normal cruise speed
* intersect glide slope: if current position higher than slope sink to glide slope but continue horizontally if below slope */
* intersect glide slope:
* if current position is higher or within 10m of slope follow the glide slope
* if current position is below slope -10m and above altitude at L (see documentation) continue horizontally
* if current position is below altitude at L, climb to altitude of L */
float altitude_desired = _global_pos.alt;
if (_global_pos.alt > landing_slope_alt_desired) {
if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
/* stay on slope */
altitude_desired = landing_slope_alt_desired;
} else if (_global_pos.alt < landing_slope_alt_desired - 10.0f && _global_pos.alt > L_altitude) {
/* continue horizontally */
altitude_desired = _global_pos.alt; //xxx: dangerous, but we have the altitude < L_altitude protection
} else {
/* climb to L_altitude */
altitude_desired = L_altitude;
}
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(_parameters.airspeed_trim),