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Landing slope move to standalone library

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- this is shared by both the FW position controller and navigator's
   missiong feasibility checker
This commit is contained in:
Daniel Agar
2018-08-31 14:43:51 -04:00
parent 5207c420c3
commit a6dabbbae7
8 changed files with 77 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/CMakeLists.txt
+1 -1
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@@ -40,11 +40,11 @@ px4_add_module(
STACK_MAIN 1200
SRCS
FixedwingPositionControl.cpp
Landingslope.cpp
DEPENDS
git_ecl
ecl_l1
ecl_tecs
launchdetection
landing_slope
runway_takeoff
)
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+1 -1
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@@ -48,7 +48,6 @@
#ifndef FIXEDWINGPOSITIONCONTROL_HPP_
#define FIXEDWINGPOSITIONCONTROL_HPP_
#include "Landingslope.hpp"
#include "launchdetection/LaunchDetector.h"
#include "runway_takeoff/RunwayTakeoff.h"
@@ -58,6 +57,7 @@
#include <lib/ecl/geo/geo.h>
#include <lib/ecl/l1/ecl_l1_pos_controller.h>
#include <lib/ecl/tecs/tecs.h>
#include <lib/landing_slope/Landingslope.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/perf/perf_counter.h>
#include <px4_config.h>
src/modules/fw_pos_control_l1/Landingslope.cpp
-101
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@@ -1,101 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 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 landingslope.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "Landingslope.hpp"
#include <mathlib/mathlib.h>
void
Landingslope::update(float landing_slope_angle_rad_new,
float flare_relative_alt_new,
float motor_lim_relative_alt_new,
float H1_virt_new)
{
_landing_slope_angle_rad = landing_slope_angle_rad_new;
_flare_relative_alt = flare_relative_alt_new;
_motor_lim_relative_alt = motor_lim_relative_alt_new;
_H1_virt = H1_virt_new;
calculateSlopeValues();
}
void
Landingslope::calculateSlopeValues()
{
_H0 = _flare_relative_alt + _H1_virt;
_d1 = _flare_relative_alt / tanf(_landing_slope_angle_rad);
_flare_constant = (_H0 * _d1) / _flare_relative_alt;
_flare_length = -logf(_H1_virt / _H0) * _flare_constant;
_horizontal_slope_displacement = (_flare_length - _d1);
}
float
Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
{
return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement,
_landing_slope_angle_rad);
}
float
Landingslope::getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
float bearing_airplane_currwp)
{
/* If airplane is in front of waypoint return slope altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
return getLandingSlopeRelativeAltitude(wp_landing_distance);
}
return 0.0f;
}
float
Landingslope::getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
float bearing_airplane_currwp)
{
/* If airplane is in front of waypoint return flare curve altitude, else return waypoint altitude */
if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) < math::radians(90.0f)) {
return _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance) / _flare_constant) - _H1_virt;
}
return 0.0f;
}
src/modules/fw_pos_control_l1/Landingslope.hpp
-130
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@@ -1,130 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 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 landingslope.h
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef LANDINGSLOPE_H_
#define LANDINGSLOPE_H_
#include <math.h>
class Landingslope
{
private:
/* see Documentation/fw_landing.png for a plot of the landing slope */
float _landing_slope_angle_rad{0.0f}; /**< phi in the plot */
float _flare_relative_alt{0.0f}; /**< h_flare,rel in the plot */
float _motor_lim_relative_alt{0.0f};
float _H1_virt{0.0f}; /**< H1 in the plot */
float _H0{0.0f}; /**< h_flare,rel + H1 in the plot */
float _d1{0.0f}; /**< d1 in the plot */
float _flare_constant{0.0f};
float _flare_length{0.0f}; /**< d1 + delta d in the plot */
float _horizontal_slope_displacement{0.0f}; /**< delta d in the plot */
void calculateSlopeValues();
public:
Landingslope() = default;
~Landingslope() = default;
/**
*
* @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
float getLandingSlopeRelativeAltitude(float wp_landing_distance);
/**
*
* @return relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
* Performs check if aircraft is in front of waypoint to avoid climbout
*/
float getLandingSlopeRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
float bearing_airplane_currwp);
/**
*
* @return Relative altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
__EXPORT static float getLandingSlopeRelativeAltitude(float wp_landing_distance, float horizontal_slope_displacement,
float landing_slope_angle_rad)
{
// flare_relative_alt is negative
return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad);
}
/**
*
* @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
*/
__EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude,
float horizontal_slope_displacement, float landing_slope_angle_rad)
{
return getLandingSlopeRelativeAltitude(wp_landing_distance, horizontal_slope_displacement,
landing_slope_angle_rad) + wp_landing_altitude;
}
/**
*
* @return distance to landing waypoint of point on landing slope at altitude=slope_altitude
*/
__EXPORT static float getLandingSlopeWPDistance(float slope_altitude, float wp_landing_altitude,
float horizontal_slope_displacement, float landing_slope_angle_rad)
{
return (slope_altitude - wp_landing_altitude) / tanf(landing_slope_angle_rad) + horizontal_slope_displacement;
}
float getFlareCurveRelativeAltitudeSave(float wp_landing_distance, float bearing_lastwp_currwp,
float bearing_airplane_currwp);
void update(float landing_slope_angle_rad_new,
float flare_relative_alt_new,
float motor_lim_relative_alt_new,
float H1_virt_new);
float landing_slope_angle_rad() { return _landing_slope_angle_rad; }
float flare_relative_alt() { return _flare_relative_alt; }
float motor_lim_relative_alt() { return _motor_lim_relative_alt; }
float flare_length() { return _flare_length; }
float horizontal_slope_displacement() { return _horizontal_slope_displacement; }
};
#endif /* LANDINGSLOPE_H_ */
src/modules/navigator/CMakeLists.txt
+1
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@@ -56,4 +56,5 @@ px4_add_module(
DEPENDS
git_ecl
ecl_geo
landing_slope
)
src/modules/navigator/mission_feasibility_checker.cpp
+1 -1
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@@ -45,9 +45,9 @@
#include "navigator.h"
#include <drivers/drv_pwm_output.h>
#include <fw_pos_control_l1/Landingslope.hpp>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <lib/landing_slope/Landingslope.hpp>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/position_controller_landing_status.h>