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Small navigator refactor/cleanup

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Julian Kent 2021-01-12 10:49:02 +01:00 committed by Julian Kent
parent 04d859e36e
commit c745c8bb45
5 changed files with 176 additions and 136 deletions
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42
src/modules/navigator/GeofenceBreachAvoidance/fake_geofence.hpp
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@ -1,4 +1,42 @@
/****************************************************************************
*
* Copyright (c) 2013 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 fake_geofence.h
* Provides a fake geofence interface to use for testing
*
* @author Roman Bapst
* @author Julian Kent
*/
#include"../geofence.h"
@ -180,4 +218,4 @@ extern "C" {
dm_restart(
dm_reset_reason restart_type /* The last reset type */
) {return 0;};
}
}

5
src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp
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@ -51,11 +51,6 @@ GeofenceBreachAvoidance::GeofenceBreachAvoidance() :
updateParameters();
}
GeofenceBreachAvoidance::~GeofenceBreachAvoidance()
{
}
void GeofenceBreachAvoidance::updateParameters()
{
param_get(_paramHandle.param_mpc_jerk_max, &_params.param_mpc_jerk_max);

4
src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.h
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@ -53,7 +53,7 @@ class GeofenceBreachAvoidance : public ModuleParams
public:
GeofenceBreachAvoidance();
~GeofenceBreachAvoidance();
~GeofenceBreachAvoidance() = default;
matrix::Vector2<double> getFenceViolationTestPoint();
@ -143,4 +143,4 @@ private:
matrix::Vector2<double> waypointFromHomeToTestPointAtDist(float distance);
};
};

3
src/modules/navigator/navigator.h
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@ -297,6 +297,8 @@ public:
bool abort_landing();
void geofence_breach_check(bool &have_geofence_position_data);
// Param access
float get_loiter_min_alt() const { return _param_mis_ltrmin_alt.get(); }
float get_takeoff_min_alt() const { return _param_mis_takeoff_alt.get(); }
@ -381,6 +383,7 @@ private:
Geofence _geofence; /**< class that handles the geofence */
bool _geofence_violation_warning_sent{false}; /**< prevents spaming to mavlink */
GeofenceBreachAvoidance _gf_breach_avoidance;
hrt_abstime _last_geofence_check = 0;
bool _can_loiter_at_sp{false}; /**< flags if current position SP can be used to loiter */
bool _pos_sp_triplet_updated{false}; /**< flags if position SP triplet needs to be published */

258
src/modules/navigator/navigator_main.cpp
View File

@ -157,8 +157,6 @@ Navigator::run()
/* rate-limit position subscription to 20 Hz / 50 ms */
orb_set_interval(_local_pos_sub, 50);
hrt_abstime last_geofence_check = 0;
while (!should_exit()) {
/* wait for up to 1000ms for data */
@ -480,131 +478,7 @@ Navigator::run()
check_traffic();
/* Check geofence violation */
if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
matrix::Vector2<double> fence_violation_test_point;
geofence_violation_type_u gf_violation_type{};
float test_point_bearing;
float test_point_distance;
float vertical_test_point_distance;
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
test_point_bearing = atan2f(_local_pos.vy, _local_pos.vx);
const float velocity_hor_abs = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy);
_gf_breach_avoidance.setHorizontalVelocity(velocity_hor_abs);
_gf_breach_avoidance.setClimbRate(-_local_pos.vz);
test_point_distance = _gf_breach_avoidance.computeBrakingDistanceMultirotor();
vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor();
} else {
test_point_distance = 2.0f * get_loiter_radius();
vertical_test_point_distance = 5.0f;
if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) {
test_point_bearing = pos_ctrl_status.nav_bearing;
} else {
test_point_bearing = atan2f(_local_pos.vy, _local_pos.vx);
}
}
_gf_breach_avoidance.setHorizontalTestPointDistance(test_point_distance);
_gf_breach_avoidance.setVerticalTestPointDistance(vertical_test_point_distance);
_gf_breach_avoidance.setTestPointBearing(test_point_bearing);
_gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt);
_gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome());
_gf_breach_avoidance.setMaxVerDistHome(_geofence.getMaxVerDistanceHome());
if (home_position_valid()) {
_gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt);
}
fence_violation_test_point = _gf_breach_avoidance.getFenceViolationTestPoint();
gf_violation_type.flags.dist_to_home_exceeded = !_geofence.isCloserThanMaxDistToHome(fence_violation_test_point(0),
fence_violation_test_point(1),
_global_pos.alt);
gf_violation_type.flags.max_altitude_exceeded = !_geofence.isBelowMaxAltitude(_global_pos.alt +
vertical_test_point_distance);
gf_violation_type.flags.fence_violation = !_geofence.isInsidePolygonOrCircle(fence_violation_test_point(0),
fence_violation_test_point(1),
_global_pos.alt);
last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.timestamp = hrt_absolute_time();
_geofence_result.geofence_action = _geofence.getGeofenceAction();
_geofence_result.home_required = _geofence.isHomeRequired();
if (gf_violation_type.value) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(&_mavlink_log_pub, "Approaching on Geofence");
// we have predicted a geofence violation and if the action is to loiter then
// demand a reposition to a location which is inside the geofence
if (_geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
matrix::Vector2<double> lointer_center_lat_lon;
matrix::Vector2<double> current_pos_lat_lon(_global_pos.lat, _global_pos.lon);
float loiter_altitude_amsl = _global_pos.alt;
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// the computation of the braking distance does not match the actual braking distance. Until we have a better model
// we set the loiter point to the current position, that will make sure that the vehicle will loiter inside the fence
lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type,
&_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForMulticopter(gf_violation_type);
} else {
lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForFixedWing(gf_violation_type);
}
rep->current.timestamp = hrt_absolute_time();
rep->current.yaw = get_local_position()->heading;
rep->current.yaw_valid = true;
rep->current.lat = lointer_center_lat_lon(0);
rep->current.lon = lointer_center_lat_lon(1);
rep->current.alt = loiter_altitude_amsl;
rep->current.valid = true;
rep->current.loiter_radius = get_loiter_radius();
rep->current.alt_valid = true;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_direction = 1;
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.cruising_speed = get_cruising_speed();
}
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = false;
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
_geofence_result_pub.publish(_geofence_result);
}
geofence_breach_check(have_geofence_position_data);
/* Do stuff according to navigation state set by commander */
NavigatorMode *navigation_mode_new{nullptr};
@ -822,6 +696,136 @@ Navigator::run()
}
}
void Navigator::geofence_breach_check(bool &have_geofence_position_data)
{
if (have_geofence_position_data &&
(_geofence.getGeofenceAction() != geofence_result_s::GF_ACTION_NONE) &&
(hrt_elapsed_time(&_last_geofence_check) > GEOFENCE_CHECK_INTERVAL)) {
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
matrix::Vector2<double> fence_violation_test_point;
geofence_violation_type_u gf_violation_type{};
float test_point_bearing;
float test_point_distance;
float vertical_test_point_distance;
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
test_point_bearing = atan2f(_local_pos.vy, _local_pos.vx);
const float velocity_hor_abs = sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * _local_pos.vy);
_gf_breach_avoidance.setHorizontalVelocity(velocity_hor_abs);
_gf_breach_avoidance.setClimbRate(-_local_pos.vz);
test_point_distance = _gf_breach_avoidance.computeBrakingDistanceMultirotor();
vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor();
} else {
test_point_distance = 2.0f * get_loiter_radius();
vertical_test_point_distance = 5.0f;
if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) {
test_point_bearing = pos_ctrl_status.nav_bearing;
} else {
test_point_bearing = atan2f(_local_pos.vy, _local_pos.vx);
}
}
_gf_breach_avoidance.setHorizontalTestPointDistance(test_point_distance);
_gf_breach_avoidance.setVerticalTestPointDistance(vertical_test_point_distance);
_gf_breach_avoidance.setTestPointBearing(test_point_bearing);
_gf_breach_avoidance.setCurrentPosition(_global_pos.lat, _global_pos.lon, _global_pos.alt);
_gf_breach_avoidance.setMaxHorDistHome(_geofence.getMaxHorDistanceHome());
_gf_breach_avoidance.setMaxVerDistHome(_geofence.getMaxVerDistanceHome());
if (home_position_valid()) {
_gf_breach_avoidance.setHomePosition(_home_pos.lat, _home_pos.lon, _home_pos.alt);
}
fence_violation_test_point = _gf_breach_avoidance.getFenceViolationTestPoint();
gf_violation_type.flags.dist_to_home_exceeded = !_geofence.isCloserThanMaxDistToHome(fence_violation_test_point(0),
fence_violation_test_point(1),
_global_pos.alt);
gf_violation_type.flags.max_altitude_exceeded = !_geofence.isBelowMaxAltitude(_global_pos.alt +
vertical_test_point_distance);
gf_violation_type.flags.fence_violation = !_geofence.isInsidePolygonOrCircle(fence_violation_test_point(0),
fence_violation_test_point(1),
_global_pos.alt);
_last_geofence_check = hrt_absolute_time();
have_geofence_position_data = false;
_geofence_result.timestamp = hrt_absolute_time();
_geofence_result.geofence_action = _geofence.getGeofenceAction();
_geofence_result.home_required = _geofence.isHomeRequired();
if (gf_violation_type.value) {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = true;
/* Issue a warning about the geofence violation once */
if (!_geofence_violation_warning_sent) {
mavlink_log_critical(&_mavlink_log_pub, "Approaching on Geofence");
// we have predicted a geofence violation and if the action is to loiter then
// demand a reposition to a location which is inside the geofence
if (_geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
matrix::Vector2<double> lointer_center_lat_lon;
matrix::Vector2<double> current_pos_lat_lon(_global_pos.lat, _global_pos.lon);
float loiter_altitude_amsl = _global_pos.alt;
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// the computation of the braking distance does not match the actual braking distance. Until we have a better model
// we set the loiter point to the current position, that will make sure that the vehicle will loiter inside the fence
lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type,
&_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForMulticopter(gf_violation_type);
} else {
lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForFixedWing(gf_violation_type);
}
rep->current.timestamp = hrt_absolute_time();
rep->current.yaw = get_local_position()->heading;
rep->current.yaw_valid = true;
rep->current.lat = lointer_center_lat_lon(0);
rep->current.lon = lointer_center_lat_lon(1);
rep->current.alt = loiter_altitude_amsl;
rep->current.valid = true;
rep->current.loiter_radius = get_loiter_radius();
rep->current.alt_valid = true;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_direction = 1;
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.cruising_speed = get_cruising_speed();
}
_geofence_violation_warning_sent = true;
}
} else {
/* inform other apps via the mission result */
_geofence_result.geofence_violated = false;
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
_geofence_result_pub.publish(_geofence_result);
}
}
int Navigator::task_spawn(int argc, char *argv[])
{
_task_id = px4_task_spawn_cmd("navigator",