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fw_pos_ctrl_l1 move landing to control_landing()
This commit is contained in:
Daniel Agar
@@ -802,230 +802,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
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} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
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// apply full flaps for landings. this flag will also trigger the use of flaperons
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// if they have been enabled using the corresponding parameter
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_att_sp.apply_flaps = true;
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// save time at which we started landing and reset abort_landing
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if (_time_started_landing == 0) {
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_time_started_landing = hrt_absolute_time();
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_fw_pos_ctrl_status.abort_landing = false;
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}
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float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
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float bearing_airplane_currwp = get_bearing_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
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/* Horizontal landing control */
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/* switch to heading hold for the last meters, continue heading hold after */
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float wp_distance = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
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/* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
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float wp_distance_save = wp_distance;
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if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= radians(90.0f)) {
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wp_distance_save = 0.0f;
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}
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// we want the plane to keep tracking the desired flight path until we start flaring
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// if we go into heading hold mode earlier then we risk to be pushed away from the runway by cross winds
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if ((_parameters.land_heading_hold_horizontal_distance > 0.0f) && !_land_noreturn_horizontal &&
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((wp_distance < _parameters.land_heading_hold_horizontal_distance) || _land_noreturn_vertical)) {
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if (pos_sp_prev.valid) {
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/* heading hold, along the line connecting this and the last waypoint */
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_target_bearing = bearing_lastwp_currwp;
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} else {
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_target_bearing = _yaw;
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}
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_land_noreturn_horizontal = true;
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mavlink_log_info(&_mavlink_log_pub, "Landing, heading hold");
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}
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if (_land_noreturn_horizontal) {
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// heading hold
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_l1_control.navigate_heading(_target_bearing, _yaw, nav_speed_2d);
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} else {
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// normal navigation
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_l1_control.navigate_waypoints(prev_wp, curr_wp, curr_pos, nav_speed_2d);
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}
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_att_sp.roll_body = _l1_control.nav_roll();
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_att_sp.yaw_body = _l1_control.nav_bearing();
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if (_land_noreturn_horizontal) {
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/* limit roll motion to prevent wings from touching the ground first */
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_att_sp.roll_body = constrain(_att_sp.roll_body, radians(-10.0f), radians(10.0f));
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}
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/* Vertical landing control */
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/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
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float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
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float airspeed_land = _parameters.land_airspeed_scale * _parameters.airspeed_min;
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float airspeed_approach = _parameters.land_airspeed_scale * _parameters.airspeed_min;
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// default to no terrain estimation, just use landing waypoint altitude
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float terrain_alt = pos_sp_curr.alt;
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if (_parameters.land_use_terrain_estimate == 1) {
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if (_global_pos.terrain_alt_valid) {
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// all good, have valid terrain altitude
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terrain_alt = _global_pos.terrain_alt;
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_t_alt_prev_valid = terrain_alt;
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_time_last_t_alt = hrt_absolute_time();
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} else if (_time_last_t_alt == 0) {
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// we have started landing phase but don't have valid terrain
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// wait for some time, maybe we will soon get a valid estimate
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// until then just use the altitude of the landing waypoint
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if (hrt_elapsed_time(&_time_started_landing) < 10 * 1000 * 1000) {
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terrain_alt = pos_sp_curr.alt;
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} else {
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// still no valid terrain, abort landing
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terrain_alt = pos_sp_curr.alt;
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_fw_pos_ctrl_status.abort_landing = true;
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}
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} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT * 1000 * 1000)
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|| _land_noreturn_vertical) {
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// use previous terrain estimate for some time and hope to recover
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// if we are already flaring (land_noreturn_vertical) then just
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// go with the old estimate
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terrain_alt = _t_alt_prev_valid;
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} else {
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// terrain alt was not valid for long time, abort landing
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terrain_alt = _t_alt_prev_valid;
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_fw_pos_ctrl_status.abort_landing = true;
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}
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}
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/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
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float L_altitude_rel = 0.0f;
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if (pos_sp_prev.valid) {
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L_altitude_rel = pos_sp_prev.alt - terrain_alt;
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}
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float landing_slope_alt_rel_desired = _landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance,
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bearing_lastwp_currwp, bearing_airplane_currwp);
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/* Check if we should start flaring with a vertical and a
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* horizontal limit (with some tolerance)
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* The horizontal limit is only applied when we are in front of the wp
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*/
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if (((_global_pos.alt < terrain_alt + _landingslope.flare_relative_alt()) &&
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(wp_distance_save < _landingslope.flare_length() + 5.0f)) ||
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_land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
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/* land with minimal speed */
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/* force TECS to only control speed with pitch, altitude is only implicitly controlled now */
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// _tecs.set_speed_weight(2.0f);
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/* kill the throttle if param requests it */
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throttle_max = _parameters.throttle_max;
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/* enable direct yaw control using rudder/wheel */
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if (_land_noreturn_horizontal) {
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_att_sp.yaw_body = _target_bearing;
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_att_sp.fw_control_yaw = true;
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}
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if (_global_pos.alt < terrain_alt + _landingslope.motor_lim_relative_alt() || _land_motor_lim) {
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throttle_max = min(throttle_max, _parameters.throttle_land_max);
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if (!_land_motor_lim) {
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_land_motor_lim = true;
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mavlink_log_info(&_mavlink_log_pub, "Landing, limiting throttle");
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}
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}
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float flare_curve_alt_rel = _landingslope.getFlareCurveRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp,
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bearing_airplane_currwp);
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/* avoid climbout */
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if ((_flare_curve_alt_rel_last < flare_curve_alt_rel && _land_noreturn_vertical) || _land_stayonground) {
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flare_curve_alt_rel = 0.0f; // stay on ground
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_land_stayonground = true;
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}
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tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel,
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calculate_target_airspeed(airspeed_land),
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radians(_parameters.land_flare_pitch_min_deg),
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radians(_parameters.land_flare_pitch_max_deg),
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0.0f,
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throttle_max,
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throttle_land,
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false,
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_land_motor_lim ? radians(_parameters.land_flare_pitch_min_deg) : radians(_parameters.pitch_limit_min),
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_land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
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if (!_land_noreturn_vertical) {
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// just started with the flaring phase
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_att_sp.pitch_body = 0.0f;
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_flare_height = _global_pos.alt - terrain_alt;
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mavlink_log_info(&_mavlink_log_pub, "Landing, flaring");
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_land_noreturn_vertical = true;
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} else {
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if (_global_pos.vel_d > 0.1f) {
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_att_sp.pitch_body = radians(_parameters.land_flare_pitch_min_deg) *
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constrain((_flare_height - (_global_pos.alt - terrain_alt)) / _flare_height, 0.0f, 1.0f);
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}
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// otherwise continue using previous _att_sp.pitch_body
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}
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_flare_curve_alt_rel_last = flare_curve_alt_rel;
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} else {
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/* intersect glide slope:
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* minimize speed to approach speed
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* if current position is higher than the slope follow the glide slope (sink to the
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* glide slope)
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* also if the system captures the slope it should stay
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* on the slope (bool land_onslope)
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* if current position is below the slope continue at previous wp altitude
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* until the intersection with slope
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* */
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float altitude_desired_rel{0.0f};
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if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || _land_onslope) {
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/* stay on slope */
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altitude_desired_rel = landing_slope_alt_rel_desired;
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if (!_land_onslope) {
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mavlink_log_info(&_mavlink_log_pub, "Landing, on slope");
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_land_onslope = true;
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}
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} else {
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/* continue horizontally */
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if (pos_sp_prev.valid) {
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altitude_desired_rel = L_altitude_rel;
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} else {
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altitude_desired_rel = _global_pos.alt - terrain_alt;
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}
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}
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tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel,
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calculate_target_airspeed(airspeed_approach),
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radians(_parameters.pitch_limit_min),
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radians(_parameters.pitch_limit_max),
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_parameters.throttle_min,
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_parameters.throttle_max,
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_parameters.throttle_cruise,
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false,
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radians(_parameters.pitch_limit_min));
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}
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control_landing(curr_pos, ground_speed, pos_sp_prev, pos_sp_curr);
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} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
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@@ -1427,6 +1204,253 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
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return setpoint;
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}
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void
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FixedwingPositionControl::control_landing(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
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const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
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{
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/* current waypoint (the one currently heading for) */
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math::Vector<2> curr_wp((float)pos_sp_curr.lat, (float)pos_sp_curr.lon);
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math::Vector<2> prev_wp{0.0f, 0.0f}; /* previous waypoint */
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if (pos_sp_prev.valid) {
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prev_wp(0) = (float)pos_sp_prev.lat;
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prev_wp(1) = (float)pos_sp_prev.lon;
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} else {
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/*
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* No valid previous waypoint, go for the current wp.
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* This is automatically handled by the L1 library.
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*/
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prev_wp(0) = (float)pos_sp_curr.lat;
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prev_wp(1) = (float)pos_sp_curr.lon;
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}
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// apply full flaps for landings. this flag will also trigger the use of flaperons
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// if they have been enabled using the corresponding parameter
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_att_sp.apply_flaps = true;
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// save time at which we started landing and reset abort_landing
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if (_time_started_landing == 0) {
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_time_started_landing = hrt_absolute_time();
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_fw_pos_ctrl_status.abort_landing = false;
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}
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float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
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float bearing_airplane_currwp = get_bearing_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
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/* Horizontal landing control */
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/* switch to heading hold for the last meters, continue heading hold after */
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float wp_distance = get_distance_to_next_waypoint(curr_pos(0), curr_pos(1), curr_wp(0), curr_wp(1));
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/* calculate a waypoint distance value which is 0 when the aircraft is behind the waypoint */
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float wp_distance_save = wp_distance;
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if (fabsf(bearing_airplane_currwp - bearing_lastwp_currwp) >= radians(90.0f)) {
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wp_distance_save = 0.0f;
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}
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// we want the plane to keep tracking the desired flight path until we start flaring
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// if we go into heading hold mode earlier then we risk to be pushed away from the runway by cross winds
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if ((_parameters.land_heading_hold_horizontal_distance > 0.0f) && !_land_noreturn_horizontal &&
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((wp_distance < _parameters.land_heading_hold_horizontal_distance) || _land_noreturn_vertical)) {
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if (pos_sp_prev.valid) {
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/* heading hold, along the line connecting this and the last waypoint */
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_target_bearing = bearing_lastwp_currwp;
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} else {
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_target_bearing = _yaw;
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}
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_land_noreturn_horizontal = true;
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mavlink_log_info(&_mavlink_log_pub, "Landing, heading hold");
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}
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if (_land_noreturn_horizontal) {
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// heading hold
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_l1_control.navigate_heading(_target_bearing, _yaw, ground_speed);
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} else {
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// normal navigation
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_l1_control.navigate_waypoints(prev_wp, curr_wp, curr_pos, ground_speed);
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}
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_att_sp.roll_body = _l1_control.nav_roll();
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_att_sp.yaw_body = _l1_control.nav_bearing();
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if (_land_noreturn_horizontal) {
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/* limit roll motion to prevent wings from touching the ground first */
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_att_sp.roll_body = constrain(_att_sp.roll_body, radians(-10.0f), radians(10.0f));
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}
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/* Vertical landing control */
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/* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
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float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
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float airspeed_land = _parameters.land_airspeed_scale * _parameters.airspeed_min;
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float airspeed_approach = _parameters.land_airspeed_scale * _parameters.airspeed_min;
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// default to no terrain estimation, just use landing waypoint altitude
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float terrain_alt = pos_sp_curr.alt;
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if (_parameters.land_use_terrain_estimate == 1) {
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if (_global_pos.terrain_alt_valid) {
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// all good, have valid terrain altitude
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terrain_alt = _global_pos.terrain_alt;
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_t_alt_prev_valid = terrain_alt;
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_time_last_t_alt = hrt_absolute_time();
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} else if (_time_last_t_alt == 0) {
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// we have started landing phase but don't have valid terrain
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// wait for some time, maybe we will soon get a valid estimate
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// until then just use the altitude of the landing waypoint
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if (hrt_elapsed_time(&_time_started_landing) < 10 * 1000 * 1000) {
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terrain_alt = pos_sp_curr.alt;
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} else {
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// still no valid terrain, abort landing
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terrain_alt = pos_sp_curr.alt;
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_fw_pos_ctrl_status.abort_landing = true;
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}
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} else if ((!_global_pos.terrain_alt_valid && hrt_elapsed_time(&_time_last_t_alt) < T_ALT_TIMEOUT * 1000 * 1000)
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|| _land_noreturn_vertical) {
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// use previous terrain estimate for some time and hope to recover
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// if we are already flaring (land_noreturn_vertical) then just
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// go with the old estimate
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terrain_alt = _t_alt_prev_valid;
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} else {
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// terrain alt was not valid for long time, abort landing
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terrain_alt = _t_alt_prev_valid;
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_fw_pos_ctrl_status.abort_landing = true;
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}
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}
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/* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */
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float L_altitude_rel = 0.0f;
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if (pos_sp_prev.valid) {
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L_altitude_rel = pos_sp_prev.alt - terrain_alt;
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}
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float landing_slope_alt_rel_desired = _landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance,
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bearing_lastwp_currwp, bearing_airplane_currwp);
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/* Check if we should start flaring with a vertical and a
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* horizontal limit (with some tolerance)
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* The horizontal limit is only applied when we are in front of the wp
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*/
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if (((_global_pos.alt < terrain_alt + _landingslope.flare_relative_alt()) &&
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(wp_distance_save < _landingslope.flare_length() + 5.0f)) ||
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_land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out
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/* land with minimal speed */
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/* force TECS to only control speed with pitch, altitude is only implicitly controlled now */
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// _tecs.set_speed_weight(2.0f);
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/* kill the throttle if param requests it */
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float throttle_max = _parameters.throttle_max;
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/* enable direct yaw control using rudder/wheel */
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if (_land_noreturn_horizontal) {
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_att_sp.yaw_body = _target_bearing;
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_att_sp.fw_control_yaw = true;
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}
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if (_global_pos.alt < terrain_alt + _landingslope.motor_lim_relative_alt() || _land_motor_lim) {
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throttle_max = min(throttle_max, _parameters.throttle_land_max);
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if (!_land_motor_lim) {
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_land_motor_lim = true;
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mavlink_log_info(&_mavlink_log_pub, "Landing, limiting throttle");
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}
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}
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float flare_curve_alt_rel = _landingslope.getFlareCurveRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp,
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bearing_airplane_currwp);
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/* avoid climbout */
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if ((_flare_curve_alt_rel_last < flare_curve_alt_rel && _land_noreturn_vertical) || _land_stayonground) {
|
||||
flare_curve_alt_rel = 0.0f; // stay on ground
|
||||
_land_stayonground = true;
|
||||
}
|
||||
|
||||
tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel,
|
||||
calculate_target_airspeed(airspeed_land),
|
||||
radians(_parameters.land_flare_pitch_min_deg),
|
||||
radians(_parameters.land_flare_pitch_max_deg),
|
||||
0.0f,
|
||||
throttle_max,
|
||||
throttle_land,
|
||||
false,
|
||||
_land_motor_lim ? radians(_parameters.land_flare_pitch_min_deg) : radians(_parameters.pitch_limit_min),
|
||||
_land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
|
||||
|
||||
if (!_land_noreturn_vertical) {
|
||||
// just started with the flaring phase
|
||||
_att_sp.pitch_body = 0.0f;
|
||||
_flare_height = _global_pos.alt - terrain_alt;
|
||||
mavlink_log_info(&_mavlink_log_pub, "Landing, flaring");
|
||||
_land_noreturn_vertical = true;
|
||||
|
||||
} else {
|
||||
if (_global_pos.vel_d > 0.1f) {
|
||||
_att_sp.pitch_body = radians(_parameters.land_flare_pitch_min_deg) *
|
||||
constrain((_flare_height - (_global_pos.alt - terrain_alt)) / _flare_height, 0.0f, 1.0f);
|
||||
}
|
||||
|
||||
// otherwise continue using previous _att_sp.pitch_body
|
||||
}
|
||||
|
||||
_flare_curve_alt_rel_last = flare_curve_alt_rel;
|
||||
|
||||
} else {
|
||||
|
||||
/* intersect glide slope:
|
||||
* minimize speed to approach speed
|
||||
* if current position is higher than the slope follow the glide slope (sink to the
|
||||
* glide slope)
|
||||
* also if the system captures the slope it should stay
|
||||
* on the slope (bool land_onslope)
|
||||
* if current position is below the slope continue at previous wp altitude
|
||||
* until the intersection with slope
|
||||
* */
|
||||
float altitude_desired_rel{0.0f};
|
||||
|
||||
if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || _land_onslope) {
|
||||
/* stay on slope */
|
||||
altitude_desired_rel = landing_slope_alt_rel_desired;
|
||||
|
||||
if (!_land_onslope) {
|
||||
mavlink_log_info(&_mavlink_log_pub, "Landing, on slope");
|
||||
_land_onslope = true;
|
||||
}
|
||||
|
||||
} else {
|
||||
/* continue horizontally */
|
||||
if (pos_sp_prev.valid) {
|
||||
altitude_desired_rel = L_altitude_rel;
|
||||
|
||||
} else {
|
||||
altitude_desired_rel = _global_pos.alt - terrain_alt;
|
||||
}
|
||||
}
|
||||
|
||||
tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel,
|
||||
calculate_target_airspeed(airspeed_approach),
|
||||
radians(_parameters.pitch_limit_min),
|
||||
radians(_parameters.pitch_limit_max),
|
||||
_parameters.throttle_min,
|
||||
_parameters.throttle_max,
|
||||
_parameters.throttle_cruise,
|
||||
false,
|
||||
radians(_parameters.pitch_limit_min));
|
||||
}
|
||||
}
|
||||
|
||||
float
|
||||
FixedwingPositionControl::get_tecs_pitch()
|
||||
{
|
||||
|
||||
@@ -440,6 +440,9 @@ private:
|
||||
bool control_position(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
|
||||
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
|
||||
|
||||
void control_landing(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
|
||||
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
|
||||
|
||||
float get_tecs_pitch();
|
||||
float get_tecs_thrust();
|
||||
|
||||
|
||||
Reference in New Issue
Block a user