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Halfway-working fixed wing waypoint control, needs more effort

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Lorenz Meier
2012-09-22 18:44:01 +02:00
parent c265e07ae0
commit a9b21886f3
6 changed files with 439 additions and 815 deletions
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apps/fixedwing_control/fixedwing_control.c
+296 -772
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File diff suppressed because it is too large Load Diff
apps/multirotor_att_control/multirotor_att_control_main.c
+4 -2
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@@ -1,7 +1,7 @@
/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,6 +36,8 @@
* @file multirotor_att_control_main.c
*
* Implementation of multirotor attitude control main loop.
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
apps/multirotor_pos_control/position_control.c
-40
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@@ -51,46 +51,6 @@
#include "multirotor_position_control.h"
float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
const double radius_earth = 6371000.0;
return radius_earth * c;
}
float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
// XXX wrapping check is incomplete
if (theta < 0.0f) {
theta = theta + 2.0f * M_PI_F;
}
return theta;
}
void control_multirotor_position(const struct vehicle_state_s *vstatus, const struct vehicle_manual_control_s *manual,
const struct vehicle_attitude_s *att, const struct vehicle_local_position_s *local_pos,
const struct vehicle_local_position_setpoint_s *local_pos_sp, struct vehicle_attitude_setpoint_s *att_sp)
apps/systemlib/Makefile
+2 -1
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@@ -48,7 +48,8 @@ CSRCS = err.c \
#
ifeq ($(TARGET),px4fmu)
CSRCS += systemlib.c \
pid/pid.c
pid/pid.c \
geo/geo.c
endif
include $(APPDIR)/mk/app.mk
apps/systemlib/geo/geo.c
+88
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@@ -0,0 +1,88 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 geo.c
*
* Geo / math functions to perform geodesic calculations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <systemlib/geo/geo.h>
#include <math.h>
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
double a = sin(d_lat / 2.0) * sin(d_lat / 2.0) + sin(d_lon / 2.0) * sin(d_lon / 2.0) * cos(lat_now_rad) * cos(lat_next_rad);
double c = 2 * atan2(sqrt(a), sqrt(1 - a));
const double radius_earth = 6371000.0;
return radius_earth * c;
}
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
{
double lat_now_rad = lat_now / 180.0 * M_PI;
double lon_now_rad = lon_now / 180.0 * M_PI;
double lat_next_rad = lat_next / 180.0 * M_PI;
double lon_next_rad = lon_next / 180.0 * M_PI;
double d_lat = lat_next_rad - lat_now_rad;
double d_lon = lon_next_rad - lon_now_rad;
/* conscious mix of double and float trig function to maximize speed and efficiency */
float theta = atan2f(sin(d_lon) * cos(lat_next_rad) , cos(lat_now_rad) * sin(lat_next_rad) - sin(lat_now_rad) * cos(lat_next_rad) * cos(d_lon));
// XXX wrapping check is incomplete
if (theta < 0.0f) {
theta = theta + 2.0f * M_PI_F;
}
return theta;
}
apps/systemlib/geo/geo.h
+49
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@@ -0,0 +1,49 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Thomas Gubler <thomasgubler@student.ethz.ch>
* Julian Oes <joes@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* 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 geo.h
*
* Definition of geo / math functions to perform geodesic calculations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
__EXPORT float get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
__EXPORT float get_bearing_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);