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Fixed follow target code style

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Lorenz Meier
2016-03-27 12:10:57 +02:00
parent 737ad045b2
commit b3472d6cc8
1 changed files with 143 additions and 135 deletions
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src/modules/navigator/follow_target.cpp
+143 -135
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@@ -57,22 +57,22 @@
#include "navigator.h" #include "navigator.h"
FollowTarget::FollowTarget(Navigator *navigator, const char *name) : FollowTarget::FollowTarget(Navigator *navigator, const char *name) :
MissionBlock(navigator, name), MissionBlock(navigator, name),
_navigator(navigator), _navigator(navigator),
_param_min_alt(this, "MIS_TAKEOFF_ALT", false), _param_min_alt(this, "MIS_TAKEOFF_ALT", false),
_follow_target_state(WAIT_FOR_TARGET_POSITION), _follow_target_state(WAIT_FOR_TARGET_POSITION),
_follow_target_sub(-1), _follow_target_sub(-1),
_step_time_in_ms(0.0f), _step_time_in_ms(0.0f),
_target_updates(0), _target_updates(0),
_last_update_time(0), _last_update_time(0),
_current_target_motion({}), _current_target_motion( {}),
_previous_target_motion({}) _previous_target_motion({})
{ {
updateParams(); updateParams();
_current_vel.zero(); _current_vel.zero();
_step_vel.zero(); _step_vel.zero();
_target_vel.zero(); _target_vel.zero();
_target_distance.zero(); _target_distance.zero();
} }
FollowTarget::~FollowTarget() FollowTarget::~FollowTarget()
@@ -81,191 +81,199 @@ FollowTarget::~FollowTarget()
void FollowTarget::on_inactive() void FollowTarget::on_inactive()
{ {
reset_target_validity(); reset_target_validity();
} }
void FollowTarget::on_activation() void FollowTarget::on_activation()
{ {
if (_follow_target_sub < 0) { if (_follow_target_sub < 0) {
_follow_target_sub = orb_subscribe(ORB_ID(follow_target)); _follow_target_sub = orb_subscribe(ORB_ID(follow_target));
} }
} }
void FollowTarget::on_active() { void FollowTarget::on_active()
struct map_projection_reference_s target_ref; {
math::Vector<3> target_position(0, 0, 0); struct map_projection_reference_s target_ref;
uint64_t current_time = hrt_absolute_time(); math::Vector<3> target_position(0, 0, 0);
bool _radius_entered = false; uint64_t current_time = hrt_absolute_time();
bool _radius_exited = false; bool _radius_entered = false;
bool updated = false; bool _radius_exited = false;
float dt_ms = 0; bool updated = false;
float dt_ms = 0;
orb_check(_follow_target_sub, &updated); orb_check(_follow_target_sub, &updated);
if (updated) { if (updated) {
_target_updates++; _target_updates++;
// save last known motion topic // save last known motion topic
_previous_target_motion = _current_target_motion; _previous_target_motion = _current_target_motion;
orb_copy(ORB_ID(follow_target), _follow_target_sub, &_current_target_motion); orb_copy(ORB_ID(follow_target), _follow_target_sub, &_current_target_motion);
} else if (((current_time - _previous_target_motion.timestamp) / 1000 / 1000) > TARGET_TIMEOUT_S && target_velocity_valid()) { } else if (((current_time - _previous_target_motion.timestamp) / 1000 / 1000) > TARGET_TIMEOUT_S
reset_target_validity(); && target_velocity_valid()) {
} reset_target_validity();
}
// update target velocity // update target velocity
if (target_velocity_valid() && updated) { if (target_velocity_valid() && updated) {
dt_ms = ((_current_target_motion.timestamp - _previous_target_motion.timestamp) / 1000); dt_ms = ((_current_target_motion.timestamp - _previous_target_motion.timestamp) / 1000);
// get last gps known reference for target // get last gps known reference for target
map_projection_init(&target_ref, _previous_target_motion.lat, _previous_target_motion.lon); map_projection_init(&target_ref, _previous_target_motion.lat, _previous_target_motion.lon);
// calculate distance the target has moved // calculate distance the target has moved
map_projection_project(&target_ref, _current_target_motion.lat, _current_target_motion.lon, &(target_position(0)), &(target_position(1))); map_projection_project(&target_ref, _current_target_motion.lat, _current_target_motion.lon, &(target_position(0)),
&(target_position(1)));
// update the average velocity of the target based on the position // update the average velocity of the target based on the position
_target_vel = target_position / (dt_ms / 1000.0f); _target_vel = target_position / (dt_ms / 1000.0f);
// to keep the velocity increase/decrease smooth // to keep the velocity increase/decrease smooth
// calculate how many velocity increments/decrements // calculate how many velocity increments/decrements
// it will take to reach the targets velocity // it will take to reach the targets velocity
// with the given amount of steps also add a feed forward input that adjusts the // with the given amount of steps also add a feed forward input that adjusts the
// velocity as the position gap increases since // velocity as the position gap increases since
// just traveling at the exact velocity of the target will not // just traveling at the exact velocity of the target will not
// get any closer to the target // get any closer to the target
_step_vel = (_target_vel - _current_vel) + _target_distance * FF_K; _step_vel = (_target_vel - _current_vel) + _target_distance * FF_K;
_step_vel /= (dt_ms / 1000.0f * (float) INTERPOLATION_PNTS); _step_vel /= (dt_ms / 1000.0f * (float) INTERPOLATION_PNTS);
_step_time_in_ms = dt_ms / (float) INTERPOLATION_PNTS; _step_time_in_ms = dt_ms / (float) INTERPOLATION_PNTS;
} }
// update distance to target // update distance to target
if (target_position_valid()) { if (target_position_valid()) {
// get distance to target // get distance to target
map_projection_init(&target_ref, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon); map_projection_init(&target_ref, _navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
map_projection_project(&target_ref, _current_target_motion.lat, _current_target_motion.lon, &_target_distance(0), &_target_distance(1)); map_projection_project(&target_ref, _current_target_motion.lat, _current_target_motion.lon, &_target_distance(0),
&_target_distance(1));
// are we within the target acceptance radius? // are we within the target acceptance radius?
// give a buffer to exit/enter the radius to give the velocity controller // give a buffer to exit/enter the radius to give the velocity controller
// a chance to catch up // a chance to catch up
_radius_exited = (_target_distance.length() > (float) TARGET_ACCEPTANCE_RADIUS_M * 1.5f); _radius_exited = (_target_distance.length() > (float) TARGET_ACCEPTANCE_RADIUS_M * 1.5f);
_radius_entered = (_target_distance.length() < (float) TARGET_ACCEPTANCE_RADIUS_M); _radius_entered = (_target_distance.length() < (float) TARGET_ACCEPTANCE_RADIUS_M);
} }
// update state machine // update state machine
switch (_follow_target_state) { switch (_follow_target_state) {
case TRACK_POSITION: { case TRACK_POSITION: {
if (_radius_entered == true) { if (_radius_entered == true) {
_follow_target_state = TRACK_VELOCITY; _follow_target_state = TRACK_VELOCITY;
} else if (target_velocity_valid()) {
set_follow_target_item(&_mission_item, _param_min_alt.get(), _current_target_motion, NAN);
// keep the current velocity updated with the target velocity for when it's needed
_current_vel = _target_vel;
update_position_sp(true, true);
}
break; } else if (target_velocity_valid()) {
} set_follow_target_item(&_mission_item, _param_min_alt.get(), _current_target_motion, NAN);
// keep the current velocity updated with the target velocity for when it's needed
_current_vel = _target_vel;
update_position_sp(true, true);
}
case TRACK_VELOCITY: { break;
}
if (_radius_exited == true) { case TRACK_VELOCITY: {
_follow_target_state = TRACK_POSITION;
} else if (target_velocity_valid()) {
set_follow_target_item(&_mission_item, _param_min_alt.get(), _current_target_motion, NAN);
if ((current_time - _last_update_time) / 1000 >= _step_time_in_ms) {
_current_vel += _step_vel;
_last_update_time = current_time;
}
update_position_sp(true, false);
}
break; if (_radius_exited == true) {
} _follow_target_state = TRACK_POSITION;
case WAIT_FOR_TARGET_POSITION: { } else if (target_velocity_valid()) {
set_follow_target_item(&_mission_item, _param_min_alt.get(), _current_target_motion, NAN);
// Climb to the minimum altitude if ((current_time - _last_update_time) / 1000 >= _step_time_in_ms) {
// and wait until a position is received _current_vel += _step_vel;
_last_update_time = current_time;
}
follow_target_s target = { }; update_position_sp(true, false);
}
// for now set the target at the minimum height above the uav break;
}
target.lat = _navigator->get_global_position()->lat; case WAIT_FOR_TARGET_POSITION: {
target.lon = _navigator->get_global_position()->lon;
target.alt = 0.0F;
set_follow_target_item(&_mission_item, _param_min_alt.get(), target, NAN); // Climb to the minimum altitude
// and wait until a position is received
update_position_sp(false, false); follow_target_s target = { };
if (is_mission_item_reached() && target_velocity_valid()) { // for now set the target at the minimum height above the uav
_follow_target_state = TRACK_POSITION;
}
break; target.lat = _navigator->get_global_position()->lat;
} target.lon = _navigator->get_global_position()->lon;
} target.alt = 0.0F;
set_follow_target_item(&_mission_item, _param_min_alt.get(), target, NAN);
update_position_sp(false, false);
if (is_mission_item_reached() && target_velocity_valid()) {
_follow_target_state = TRACK_POSITION;
}
break;
}
}
} }
void FollowTarget::update_position_sp(bool use_velocity, bool use_position) void FollowTarget::update_position_sp(bool use_velocity, bool use_position)
{ {
// convert mission item to current setpoint // convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// activate line following in pos control if position is valid // activate line following in pos control if position is valid
pos_sp_triplet->previous.valid = use_position; pos_sp_triplet->previous.valid = use_position;
pos_sp_triplet->previous = pos_sp_triplet->current; pos_sp_triplet->previous = pos_sp_triplet->current;
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET; pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET;
pos_sp_triplet->current.position_valid = use_position; pos_sp_triplet->current.position_valid = use_position;
pos_sp_triplet->current.velocity_valid = use_velocity; pos_sp_triplet->current.velocity_valid = use_velocity;
pos_sp_triplet->current.vx = _current_vel(0); pos_sp_triplet->current.vx = _current_vel(0);
pos_sp_triplet->current.vy = _current_vel(1); pos_sp_triplet->current.vy = _current_vel(1);
pos_sp_triplet->next.valid = false; pos_sp_triplet->next.valid = false;
_navigator->set_position_setpoint_triplet_updated(); _navigator->set_position_setpoint_triplet_updated();
} }
void FollowTarget::reset_target_validity() void FollowTarget::reset_target_validity()
{ {
_previous_target_motion = {}; _previous_target_motion = {};
_current_target_motion = {}; _current_target_motion = {};
_target_updates = 0; _target_updates = 0;
_current_vel.zero(); _current_vel.zero();
_step_vel.zero(); _step_vel.zero();
_target_vel.zero(); _target_vel.zero();
_target_distance.zero(); _target_distance.zero();
reset_mission_item_reached(); reset_mission_item_reached();
_follow_target_state = WAIT_FOR_TARGET_POSITION; _follow_target_state = WAIT_FOR_TARGET_POSITION;
} }
bool FollowTarget::target_velocity_valid() bool FollowTarget::target_velocity_valid()
{ {
// need at least 2 data points for velocity estimate // need at least 2 data points for velocity estimate
return (_target_updates >= 2); return (_target_updates >= 2);
} }
bool FollowTarget::target_position_valid() bool FollowTarget::target_position_valid()
{ {
// need at least 1 data point for position estimate // need at least 1 data point for position estimate
return (_target_updates >= 1); return (_target_updates >= 1);
} }