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finished the wip. Basic precland working

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This commit is contained in:
Alessandro Simovic
2023-03-31 15:02:46 +02:00
parent 4435a57e68
commit 905510d80a
2 changed files with 98 additions and 57 deletions
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src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp
+87 -54
View File
@@ -45,11 +45,14 @@ bool FlightTaskAutoPrecisionLanding::activate(const trajectory_setpoint_s &last_
bool ret = FlightTask::activate(last_setpoint);
PX4_INFO("precland activated");
_precland_state = PRECLAND_STATE::AUTORTL_CLIMB;
_position_setpoint = _position;
_search_count = 0;
// TODO: Use target orientation instead
_yaw_setpoint = _yaw;
_initial_yaw = _yaw;
_initial_position = _position;
return ret;
}
@@ -62,39 +65,35 @@ void FlightTaskAutoPrecisionLanding::do_state_transition(PRECLAND_STATE new_stat
bool FlightTaskAutoPrecisionLanding::inside_acceptance_radius()
{
// TODO: Reuse what FlightTaskAuto has...
return Vector3f(_position_setpoint - _position).norm() <= _param_pld_hacc_rad.get();
}
bool FlightTaskAutoPrecisionLanding::precision_target_available()
{
// TODO: Add timeout
const bool ever_received = _landing_target_pose.timestamp != 0;
const bool timed_out = hrt_absolute_time() - _landing_target_pose.timestamp > _param_pld_btout.get() * SEC2USEC;
return ever_received && !timed_out;
}
bool FlightTaskAutoPrecisionLanding::update()
{
bool ret = FlightTaskAuto::update();
// printf("state: %u\n", _precland_state);
// Get setpoints from FlightTaskAuto and later override if necessary
bool ret = FlightTask::update();
// Fetch uorb
if (_landing_target_pose_sub.updated()) {
_landing_target_pose_sub.copy(&_landing_target_pose);
_precision_target_ned(0) = _landing_target_pose.x_rel;
_precision_target_ned(1) = _landing_target_pose.y_rel;
_precision_target_ned(2) = _landing_target_pose.z_rel;
_precision_target_ned(0) = _landing_target_pose.x_abs;
_precision_target_ned(1) = _landing_target_pose.y_abs;
// Supplement precision target altitude with home postion's altitude if necessary
_precision_target_ned(2) = PX4_ISFINITE(_landing_target_pose.z_rel) ? _landing_target_pose.z_rel :
_sub_home_position.get().z;
}
// Initialize precision target coordinates with home position if marker has not been spotted yet
if (_landing_target_pose.timestamp == 0) {
if (_sub_home_position.get().valid_lpos && _sub_home_position.get().valid_alt) {
_precision_target_ned(0) = _sub_home_position.get().x;
_precision_target_ned(1) = _sub_home_position.get().y;
_precision_target_ned(2) = _sub_home_position.get().z; // TODO: I think this is NAN
} else {
// Nothing to do without valid home location or target position
return ret;
}
}
precision_landing_status_s precision_landing_status{};
// Fetch runtime parameters
const float max_search_duration = _param_pld_srch_tout.get();
const float search_rel_altitude = _param_pld_srch_alt.get();
@@ -102,44 +101,72 @@ bool FlightTaskAutoPrecisionLanding::update()
switch (_precland_state) {
case PRECLAND_STATE::AUTORTL_CLIMB:
PX4_INFO("AUTORTL_CLIMB");
_position_setpoint(0) = _initial_position(0);
_position_setpoint(1) = _initial_position(1);
_position_setpoint(2) = _sub_home_position.get().z - _param_rtl_return_alt.get();
_position_setpoint = _position;
_position_setpoint(2) = _precision_target_ned(2) - search_rel_altitude;
_velocity_setpoint(0) = _velocity_setpoint(1) = _velocity_setpoint(2) = NAN;
_velocity_setpoint.setNaN(); // TODO: Is there a RTL climb speed?
_acceleration_setpoint.setNaN();
_yaw_setpoint = _initial_yaw;
// transition condition
// Wait for drone to reach z position setpoint
if (abs(_position(2) - _position_setpoint(2)) <= _param_pld_hacc_rad.get()) {
mavlink_log_info(&_mavlink_log_pub, "Moving above target");
// Wait for drone to reach z position setpoint or be higher
if (_position(2) <= _position_setpoint(2) + _param_nav_mc_alt_rad.get()) {
mavlink_log_info(&_mavlink_log_pub, "Horizontal approach");
do_state_transition(PRECLAND_STATE::AUTORTL_APPROACH);
}
break;
case PRECLAND_STATE::AUTORTL_APPROACH:
PX4_INFO("AUTORTL_APPROACH");
case PRECLAND_STATE::AUTORTL_APPROACH: {
PX4_INFO("AUTORTL_APPROACH");
_position_setpoint = _precision_target_ned;
_position_setpoint(2) -= search_rel_altitude;
_velocity_setpoint(0) = _velocity_setpoint(1) = _velocity_setpoint(2) = NAN;
// Horizontal approach to home or precision target
if (precision_target_available()) {
_position_setpoint(0) = _precision_target_ned(0);
_position_setpoint(1) = _precision_target_ned(1);
_position_setpoint(2) = _precision_target_ned(2);
// transition condition
// Wait for drone to reach position setpoint
if (inside_acceptance_radius()) {
mavlink_log_info(&_mavlink_log_pub, "Moving to search center");
do_state_transition(PRECLAND_STATE::MOVE_TO_SEARCH_ALTITUDE);
} else {
PX4_INFO("reverting to HOME...");
_position_setpoint(0) = _sub_home_position.get().x;
_position_setpoint(1) = _sub_home_position.get().y;
_position_setpoint(2) = _sub_home_position.get().z - _param_rtl_return_alt.get();
}
_velocity_setpoint.setNaN();
// transition condition
// Wait for drone to reach position setpoint
if (inside_acceptance_radius()) {
if (precision_target_available()) {
mavlink_log_info(&_mavlink_log_pub, "Moving above target");
do_state_transition(PRECLAND_STATE::MOVING_ABOVE_TARGET);
} else {
mavlink_log_info(&_mavlink_log_pub, "Moving to search center");
do_state_transition(PRECLAND_STATE::MOVE_TO_SEARCH_ALTITUDE);
}
_target_yaw = _yaw_setpoint;
}
break;
}
break;
case PRECLAND_STATE::MOVE_TO_SEARCH_ALTITUDE:
PX4_INFO("MOVE_TO_SEARCH_ALTITUDE");
// Ascend/Descend to search altitude
_position_setpoint = _precision_target_ned;
_position_setpoint(2) -= search_rel_altitude;
_velocity_setpoint(0) = _velocity_setpoint(1) = _velocity_setpoint(2) = NAN;
_acceleration_setpoint(0) = _acceleration_setpoint(1) = _acceleration_setpoint(2) = NAN;
_position_setpoint(0) = _sub_home_position.get().x;
_position_setpoint(1) = _sub_home_position.get().y;
_position_setpoint(2) = _sub_home_position.get().z - search_rel_altitude;
_velocity_setpoint.setNaN();
_acceleration_setpoint.setNaN();
_yaw_setpoint = _target_yaw;
// transition condition
if (inside_acceptance_radius()) {
@@ -152,6 +179,8 @@ bool FlightTaskAutoPrecisionLanding::update()
case PRECLAND_STATE::SEARCHING_TARGET:
PX4_INFO("SEARCHING_TARGET");
_yaw_setpoint = _target_yaw;
// Currently no search pattern is implemented. Just wait for target...
// Workaround for Orion app making unwanted changes to my parameters
if ((hrt_absolute_time() - _state_start_time) > max_search_duration * SEC2USEC) {
@@ -163,12 +192,12 @@ bool FlightTaskAutoPrecisionLanding::update()
} else {
mavlink_log_info(&_mavlink_log_pub, "Moving to search center");
do_state_transition(PRECLAND_STATE::MOVE_TO_SEARCH_ALTITUDE);
do_state_transition(PRECLAND_STATE::SEARCHING_TARGET);
}
}
// transition condition
if (hrt_absolute_time() - _landing_target_pose.timestamp <= _param_pld_btout.get()*SEC2USEC) {
if (precision_target_available()) {
mavlink_log_info(&_mavlink_log_pub, "Moving above target");
do_state_transition(PRECLAND_STATE::MOVING_ABOVE_TARGET);
}
@@ -177,14 +206,15 @@ bool FlightTaskAutoPrecisionLanding::update()
case PRECLAND_STATE::MOVING_ABOVE_TARGET:
PX4_INFO("MOVING_ABOVE_TARGET");
// TODO: Should use current altitude when state was entered as the altitude setpoint
_position_setpoint(0) = _precision_target_ned(0);
_position_setpoint(1) = _precision_target_ned(1);
_position_setpoint(2) = _sub_home_position.get().z - search_rel_altitude;
_position_setpoint(0) = _landing_target_pose.x_abs;
_position_setpoint(1) = _landing_target_pose.y_abs;
_position_setpoint(2) = _precision_target_ned(2) - search_rel_altitude;
_velocity_setpoint.setNaN();
_acceleration_setpoint.setNaN();
_velocity_setpoint(0) = NAN;
_velocity_setpoint(1) = NAN;
_velocity_setpoint(2) = 0;
_yaw_setpoint = _target_yaw;
// Transition condition
// - Check acceptance radius and
@@ -210,18 +240,21 @@ bool FlightTaskAutoPrecisionLanding::update()
case PRECLAND_STATE::LANDING:
PX4_INFO("LANDING");
// Control XY position and Z velocity
_position_setpoint(0) = _landing_target_pose.x_abs;
_position_setpoint(1) = _landing_target_pose.y_abs;
_position_setpoint(0) = _precision_target_ned(0);
_position_setpoint(1) = _precision_target_ned(1);
_position_setpoint(2) = NAN;
_velocity_setpoint(0) = 0;
_velocity_setpoint(1) = 0;
_velocity_setpoint(2) = _param_mpc_land_speed.get();
_acceleration_setpoint(2) = NAN;
_yaw_setpoint = _target_yaw;
break;
}
precision_landing_status_s precision_landing_status{};
precision_landing_status.timestamp = hrt_absolute_time();
precision_landing_status.state = _precland_state;
_precision_landing_status_pub.publish(precision_landing_status);
src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.hpp
+11 -3
View File
@@ -53,7 +53,7 @@
#define SEC2USEC 1000000.0f
#define HOVER_SPEED_THRESHOLD 0.20f // If drone has speed under this value it is considered to be hovering in place
class FlightTaskAutoPrecisionLanding : public FlightTaskAuto
class FlightTaskAutoPrecisionLanding : public FlightTask
{
public:
FlightTaskAutoPrecisionLanding() = default;
@@ -64,13 +64,16 @@ public:
bool update() override;
private:
// TODO: Use ModuleParams
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed, ///< velocity for controlled descend
(ParamFloat<px4::params::PLD_SRCH_ALT>) _param_pld_srch_alt,
(ParamFloat<px4::params::PLD_SRCH_TOUT>) _param_pld_srch_tout,
(ParamInt<px4::params::PLD_MAX_SRCH>) _param_pld_max_srch,
(ParamFloat<px4::params::PLD_HACC_RAD>) _param_pld_hacc_rad,
(ParamFloat<px4::params::PLD_BTOUT>) _param_pld_btout
(ParamFloat<px4::params::PLD_BTOUT>) _param_pld_btout,
(ParamFloat<px4::params::RTL_RETURN_ALT>) _param_rtl_return_alt,
(ParamFloat<px4::params::NAV_MC_ALT_RAD>) _param_nav_mc_alt_rad
)
enum PRECLAND_STATE {
@@ -86,7 +89,9 @@ private:
bool inside_acceptance_radius();
PRECLAND_STATE _precland_state = PRECLAND_STATE::AUTORTL_CLIMB;
bool precision_target_available();
PRECLAND_STATE _precland_state;
uORB::Subscription _landing_target_pose_sub{ORB_ID(landing_target_pose)};
landing_target_pose_s _landing_target_pose{}; /**< precision landing target position */
@@ -95,6 +100,9 @@ private:
uint64_t _state_start_time{0}; /**< time when entering search state */
int _search_count = 0;
float _initial_yaw;
float _target_yaw;
Vector3f _initial_position;
orb_advert_t _mavlink_log_pub{nullptr};
matrix::Vector3f _precision_target_ned = {NAN, NAN, NAN};