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Rearrange npfg use path input (#21071)

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* [npfg]: Remove the guideToPoint function and replace with guideToPath

* [npfg]: remove unused navigateXXX functions

* [npfg]: Move navigateXXX Function into FWPoscontrol

* [FixedwingPositionControl]: Set default flaps and spoilers in attitude setpoint topic, and only change if necessary.
This commit is contained in:
KonradRudin
2023-02-08 08:54:00 +01:00
committed by GitHub
parent 9ac27c9413
commit c5d041a2f7
4 changed files with 213 additions and 426 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+123 -56
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@@ -536,7 +536,7 @@ FixedwingPositionControl::status_publish()
const float bearing = _npfg.getBearing(); // dont repeat atan2 calc
pos_ctrl_status.nav_bearing = bearing;
pos_ctrl_status.target_bearing = _npfg.targetBearing();
pos_ctrl_status.target_bearing = _target_bearing;
pos_ctrl_status.xtrack_error = _npfg.getTrackError();
pos_ctrl_status.acceptance_radius = _npfg.switchDistance(500.0f);
@@ -895,9 +895,6 @@ FixedwingPositionControl::control_auto(const float control_interval, const Vecto
_att_sp.thrust_body[0] = 0.0f;
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = radians(_param_fw_psp_off.get());
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
break;
case position_setpoint_s::SETPOINT_TYPE_POSITION:
@@ -957,9 +954,6 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const float control_i
}
_att_sp.pitch_body = get_tecs_pitch();
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
}
void
@@ -986,9 +980,6 @@ FixedwingPositionControl::control_auto_descend(const float control_interval)
_att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_min.get() : min(get_tecs_thrust(), _param_fw_thr_max.get());
_att_sp.pitch_body = get_tecs_pitch();
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
}
uint8_t
@@ -1138,11 +1129,11 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy);
float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / _pos_sp_triplet.current.loiter_radius :
0.0f;
_npfg.navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), get_nav_speed_2d(ground_speed),
_wind_vel, curvature);
navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), get_nav_speed_2d(ground_speed),
_wind_vel, curvature);
} else {
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, get_nav_speed_2d(ground_speed), _wind_vel);
navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, get_nav_speed_2d(ground_speed), _wind_vel);
}
_att_sp.roll_body = _npfg.getRollSetpoint();
@@ -1155,9 +1146,6 @@ FixedwingPositionControl::control_auto_position(const float control_interval, co
_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
tecs_update_pitch_throttle(control_interval,
position_sp_alt,
target_airspeed,
@@ -1199,9 +1187,10 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
_param_fw_airspd_min.get(), ground_speed);
if (_param_fw_use_npfg.get()) {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateBearing(_target_bearing, ground_speed, _wind_vel);
navigateBearing(curr_pos_local, _target_bearing, ground_speed, _wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
@@ -1212,9 +1201,6 @@ FixedwingPositionControl::control_auto_velocity(const float control_interval, co
_att_sp.yaw_body = _yaw;
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
tecs_update_pitch_throttle(control_interval,
position_sp_alt,
target_airspeed,
@@ -1279,10 +1265,14 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
loiter_radius = _param_nav_loiter_rad.get();
}
const bool in_circle_mode = (_param_fw_use_npfg.get()) ? _npfg.circleMode() : _l1_control.circle_mode();
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local{_global_local_proj_ref.project(curr_wp(0), curr_wp(1))};
Vector2f vehicle_to_loiter_center{curr_wp_local - curr_pos_local};
const bool close_to_circle = vehicle_to_loiter_center.norm() < loiter_radius + _npfg.switchDistance(500);
if (pos_sp_next.type == position_setpoint_s::SETPOINT_TYPE_LAND && _position_setpoint_next_valid
&& in_circle_mode && _param_fw_lnd_earlycfg.get()) {
&& close_to_circle && _param_fw_lnd_earlycfg.get()) {
// We're in a loiter directly before a landing WP. Enable our landing configuration (flaps,
// landing airspeed and potentially tighter altitude control) already such that we don't
// have to do this switch (which can cause significant altitude errors) close to the ground.
@@ -1291,23 +1281,17 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_LAND;
} else {
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
}
float target_airspeed = adapt_airspeed_setpoint(control_interval, airspeed_sp, _param_fw_airspd_min.get(),
ground_speed);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise,
get_nav_speed_2d(ground_speed),
_wind_vel);
navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, pos_sp_curr.loiter_direction_counter_clockwise,
get_nav_speed_2d(ground_speed),
_wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
@@ -1426,8 +1410,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigatePathTangent(local_2D_position, start_pos_local, takeoff_bearing_vector, ground_speed,
_wind_vel, 0.0f);
navigatePathTangent(local_2D_position, start_pos_local, takeoff_bearing_vector, ground_speed,
_wind_vel, 0.0f);
_att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint());
@@ -1485,7 +1469,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
// apply flaps for takeoff according to the corresponding scale factor set via FW_FLAPS_TO_SCL
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_TAKEOFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
} else {
/* Perform launch detection */
@@ -1532,8 +1515,8 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigatePathTangent(local_2D_position, launch_local_position, takeoff_bearing_vector, ground_speed, _wind_vel,
0.0f);
navigatePathTangent(local_2D_position, launch_local_position, takeoff_bearing_vector, ground_speed, _wind_vel,
0.0f);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
@@ -1578,9 +1561,6 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
_att_sp.pitch_body = radians(_takeoff_pitch_min.get());
}
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
launch_detection_status_s launch_detection_status;
launch_detection_status.timestamp = now;
launch_detection_status.launch_detection_state = _launchDetector.getLaunchDetected();
@@ -1688,7 +1668,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel);
navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel);
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
_att_sp.roll_body = _npfg.getRollSetpoint();
@@ -1785,7 +1765,7 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel);
navigateWaypoints(local_approach_entrance, local_land_point, local_position, ground_speed, _wind_vel);
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
_att_sp.roll_body = _npfg.getRollSetpoint();
@@ -1889,11 +1869,6 @@ FixedwingPositionControl::control_manual_altitude(const float control_interval,
_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
_att_sp.pitch_body = get_tecs_pitch();
// In Manual modes flaps and spoilers are directly controlled in FW Attitude controller and not passed
// through attitdue setpoints
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
}
void
@@ -1965,7 +1940,7 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(calibrated_airspeed_sp * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
calibrated_airspeed_sp = _npfg.getAirspeedRef() / _eas2tas;
@@ -2012,11 +1987,6 @@ FixedwingPositionControl::control_manual_position(const float control_interval,
_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
_att_sp.pitch_body = get_tecs_pitch();
// In Manual modes flaps and spoilers are directly controlled in FW Attitude controller and not passed
// through attitdue setpoints
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
}
float
@@ -2232,6 +2202,8 @@ FixedwingPositionControl::Run()
_l1_control.set_l1_period(_param_fw_l1_period.get());
_att_sp.reset_integral = false;
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
// by default we don't want yaw to be contoller directly with rudder
_att_sp.fw_control_yaw_wheel = false;
@@ -2288,9 +2260,6 @@ FixedwingPositionControl::Run()
case FW_POSCTRL_MODE_OTHER: {
_att_sp.thrust_body[0] = min(_att_sp.thrust_body[0], _param_fw_thr_max.get());
_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
_att_sp.apply_spoilers = vehicle_attitude_setpoint_s::SPOILERS_OFF;
_tecs.initialize(_current_altitude, -_local_pos.vz, _airspeed, _eas2tas);
break;
@@ -2720,7 +2689,7 @@ void FixedwingPositionControl::publishLocalPositionSetpoint(const position_setpo
}
} else {
current_setpoint = _npfg.getClosestPoint();
current_setpoint = _closest_point_on_path;
}
local_position_setpoint.x = current_setpoint(0);
@@ -2759,6 +2728,104 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
_orbit_status_pub.publish(orbit_status);
}
void FixedwingPositionControl::navigateWaypoints(const Vector2f &waypoint_A, const Vector2f &waypoint_B,
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
// similar to logic found in ECL_L1_Pos_Controller method of same name
// BUT no arbitrary max approach angle, approach entirely determined by generated
// bearing vectors
Vector2f vector_A_to_B = waypoint_B - waypoint_A;
Vector2f vector_A_to_vehicle = vehicle_pos - waypoint_A;
if (vector_A_to_B.norm() < FLT_EPSILON) {
// the waypoints are on top of each other and should be considered as a
// single waypoint, fly directly to it
if (vector_A_to_vehicle.norm() > FLT_EPSILON) {
vector_A_to_B = -vector_A_to_vehicle;
} else {
// Fly to a point and on it. Stay to the current control. Do not update the npfg library to get last output.
return;
}
} else if ((vector_A_to_B.dot(vector_A_to_vehicle) < -FLT_EPSILON)) {
// we are in front of waypoint A, fly directly to it until we are within switch distance.
if (vector_A_to_vehicle.norm() > _npfg.switchDistance(500.0f)) {
vector_A_to_B = -vector_A_to_vehicle;
}
}
// track the line segment
Vector2f unit_path_tangent{vector_A_to_B.normalized()};
_target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0));
_closest_point_on_path = waypoint_A + vector_A_to_vehicle.dot(unit_path_tangent) * unit_path_tangent;
_npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, waypoint_A, 0.0f);
} // navigateWaypoints
void FixedwingPositionControl::navigateLoiter(const Vector2f &loiter_center, const Vector2f &vehicle_pos,
float radius, bool loiter_direction_counter_clockwise, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
const float loiter_direction_multiplier = loiter_direction_counter_clockwise ? -1.f : 1.f;
Vector2f vector_center_to_vehicle = vehicle_pos - loiter_center;
const float dist_to_center = vector_center_to_vehicle.norm();
// find the direction from the circle center to the closest point on its perimeter
// from the vehicle position
Vector2f unit_vec_center_to_closest_pt;
if (dist_to_center < 0.1f) {
// the logic breaks down at the circle center, employ some mitigation strategies
// until we exit this region
if (ground_vel.norm() < 0.1f) {
// arbitrarily set the point in the northern top of the circle
unit_vec_center_to_closest_pt = Vector2f{1.0f, 0.0f};
} else {
// set the point in the direction we are moving
unit_vec_center_to_closest_pt = ground_vel.normalized();
}
} else {
// set the point in the direction of the aircraft
unit_vec_center_to_closest_pt = vector_center_to_vehicle.normalized();
}
// 90 deg clockwise rotation * loiter direction
const Vector2f unit_path_tangent = loiter_direction_multiplier * Vector2f{-unit_vec_center_to_closest_pt(1), unit_vec_center_to_closest_pt(0)};
float path_curvature = loiter_direction_multiplier / radius;
_target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0));
_closest_point_on_path = unit_vec_center_to_closest_pt * radius + loiter_center;
_npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent,
loiter_center + unit_vec_center_to_closest_pt * radius, path_curvature);
} // navigateLoiter
void FixedwingPositionControl::navigatePathTangent(const matrix::Vector2f &vehicle_pos,
const matrix::Vector2f &position_setpoint,
const matrix::Vector2f &tangent_setpoint,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
{
const Vector2f unit_path_tangent{tangent_setpoint.normalized()};
_target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0));
_closest_point_on_path = position_setpoint;
_npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, tangent_setpoint.normalized(), position_setpoint, curvature);
} // navigatePathTangent
void FixedwingPositionControl::navigateBearing(const matrix::Vector2f &vehicle_pos, float bearing,
const Vector2f &ground_vel, const Vector2f &wind_vel)
{
const Vector2f unit_path_tangent = Vector2f{cosf(bearing), sinf(bearing)};
_target_bearing = atan2f(unit_path_tangent(1), unit_path_tangent(0));
_closest_point_on_path = vehicle_pos;
_npfg.guideToPath(vehicle_pos, ground_vel, wind_vel, unit_path_tangent, vehicle_pos, 0.0f);
} // navigateBearing
int FixedwingPositionControl::task_spawn(int argc, char *argv[])
{
bool vtol = false;