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OFFBOARD mode architecture overhaul (#16739)

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- handle SET_POSITION_TARGET_LOCAL_NED and SET_POSITION_TARGET_GLOBAL_INT with ORB_ID(trajectory_setpoint)
 - FlightTaskOffboard not needed at all
 - bypass position_setpoint_triplet entirely (start removing extraneous fields)
 - simplify offboard_control_mode to map to supported control modes
This commit is contained in:
Daniel Agar
2021-03-05 09:39:46 -05:00
committed by GitHub
parent 5233737a86
commit d0c9a5fc93
25 changed files with 392 additions and 1074 deletions
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src/modules/flight_mode_manager/CMakeLists.txt
-1
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@@ -58,7 +58,6 @@ list(APPEND flight_tasks_all
ManualPositionSmoothVel
AutoLineSmoothVel
AutoFollowMe
Offboard
Failsafe
Descend
Transition
src/modules/flight_mode_manager/FlightModeManager.cpp
-25
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@@ -204,31 +204,6 @@ void FlightModeManager::start_flight_task()
return;
}
// offboard
if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_OFFBOARD
&& (_vehicle_control_mode_sub.get().flag_control_altitude_enabled ||
_vehicle_control_mode_sub.get().flag_control_position_enabled ||
_vehicle_control_mode_sub.get().flag_control_climb_rate_enabled ||
_vehicle_control_mode_sub.get().flag_control_velocity_enabled ||
_vehicle_control_mode_sub.get().flag_control_acceleration_enabled)) {
should_disable_task = false;
FlightTaskError error = switchTask(FlightTaskIndex::Offboard);
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Offboard activation failed with error: %s", errorToString(error));
}
task_failure = true;
_task_failure_count++;
} else {
// we want to be in this mode, reset the failure count
_task_failure_count = 0;
}
}
// Auto-follow me
if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) {
should_disable_task = false;
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
-1
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@@ -66,7 +66,6 @@ enum class WaypointType : int {
takeoff = position_setpoint_s::SETPOINT_TYPE_TAKEOFF,
land = position_setpoint_s::SETPOINT_TYPE_LAND,
idle = position_setpoint_s::SETPOINT_TYPE_IDLE,
offboard = position_setpoint_s::SETPOINT_TYPE_OFFBOARD, // only part of this structure due to legacy reason. It is not used within the Auto flighttasks
follow_target = position_setpoint_s::SETPOINT_TYPE_FOLLOW_TARGET,
};
src/modules/flight_mode_manager/tasks/Offboard/CMakeLists.txt
-39
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@@ -1,39 +0,0 @@
############################################################################
#
# Copyright (c) 2018 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.
#
############################################################################
px4_add_library(FlightTaskOffboard
FlightTaskOffboard.cpp
)
target_link_libraries(FlightTaskOffboard PUBLIC FlightTask)
target_include_directories(FlightTaskOffboard PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.cpp
-243
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@@ -1,243 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 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 FlightTaskOffboard.cpp
*/
#include "FlightTaskOffboard.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
using namespace matrix;
bool FlightTaskOffboard::updateInitialize()
{
bool ret = FlightTask::updateInitialize();
// require valid position / velocity in xy
return ret && PX4_ISFINITE(_position(0))
&& PX4_ISFINITE(_position(1))
&& PX4_ISFINITE(_velocity(0))
&& PX4_ISFINITE(_velocity(1));
}
bool FlightTaskOffboard::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{
bool ret = FlightTask::activate(last_setpoint);
_position_setpoint = _position;
_velocity_setpoint.setZero();
_position_lock.setAll(NAN);
return ret;
}
bool FlightTaskOffboard::update()
{
bool ret = FlightTask::update();
// reset setpoint for every loop
_resetSetpoints();
_sub_triplet_setpoint.update();
if (!_sub_triplet_setpoint.get().current.valid) {
_setDefaultConstraints();
_position_setpoint = _position;
return false;
}
// Yaw / Yaw-speed
if (_sub_triplet_setpoint.get().current.yaw_valid) {
// yaw control required
_yaw_setpoint = _sub_triplet_setpoint.get().current.yaw;
if (_sub_triplet_setpoint.get().current.yawspeed_valid) {
// yawspeed is used as feedforward
_yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed;
}
} else if (_sub_triplet_setpoint.get().current.yawspeed_valid) {
// only yawspeed required
_yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed;
// set yaw setpoint to NAN since not used
_yaw_setpoint = NAN;
}
// Loiter
if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
// loiter just means that the vehicle should keep position
if (!PX4_ISFINITE(_position_lock(0))) {
_position_setpoint = _position_lock = _position;
} else {
_position_setpoint = _position_lock;
}
// don't have to continue
return ret;
} else {
_position_lock.setAll(NAN);
}
// Takeoff
if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
// just do takeoff to default altitude
if (!PX4_ISFINITE(_position_lock(0))) {
_position_setpoint = _position_lock = _position;
_position_setpoint(2) = _position_lock(2) = _position(2) - _param_mis_takeoff_alt.get();
} else {
_position_setpoint = _position_lock;
}
// don't have to continue
return ret;
} else {
_position_lock.setAll(NAN);
}
// Land
if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
// land with landing speed, but keep position in xy
if (!PX4_ISFINITE(_position_lock(0))) {
_position_setpoint = _position_lock = _position;
_position_setpoint(2) = _position_lock(2) = NAN;
_velocity_setpoint(2) = _param_mpc_land_speed.get();
} else {
_position_setpoint = _position_lock;
_velocity_setpoint(2) = _param_mpc_land_speed.get();
}
// don't have to continue
return ret;
} else {
_position_lock.setAll(NAN);
}
// IDLE
if (_sub_triplet_setpoint.get().current.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_position_setpoint.setNaN(); // Don't require any position/velocity setpoints
_velocity_setpoint.setNaN();
_acceleration_setpoint = Vector3f(0.f, 0.f, 100.f); // High downwards acceleration to make sure there's no thrust
return ret;
}
// Possible inputs:
// 1. position setpoint
// 2. position setpoint + velocity setpoint (velocity used as feedforward)
// 3. velocity setpoint
// 4. acceleration setpoint -> this will be mapped to normalized thrust setpoint because acceleration is not supported
const bool position_ctrl_xy = _sub_triplet_setpoint.get().current.position_valid
&& _sub_vehicle_local_position.get().xy_valid;
const bool position_ctrl_z = _sub_triplet_setpoint.get().current.alt_valid
&& _sub_vehicle_local_position.get().z_valid;
const bool velocity_ctrl_xy = _sub_triplet_setpoint.get().current.velocity_valid
&& _sub_vehicle_local_position.get().v_xy_valid;
const bool velocity_ctrl_z = _sub_triplet_setpoint.get().current.velocity_valid
&& _sub_vehicle_local_position.get().v_z_valid;
const bool feedforward_ctrl_xy = position_ctrl_xy && velocity_ctrl_xy;
const bool feedforward_ctrl_z = position_ctrl_z && velocity_ctrl_z;
const bool acceleration_ctrl = _sub_triplet_setpoint.get().current.acceleration_valid;
// if nothing is valid in xy, then exit offboard
if (!(position_ctrl_xy || velocity_ctrl_xy || acceleration_ctrl)) {
return false;
}
// if nothing is valid in z, then exit offboard
if (!(position_ctrl_z || velocity_ctrl_z || acceleration_ctrl)) {
return false;
}
// XY-direction
if (feedforward_ctrl_xy) {
_position_setpoint(0) = _sub_triplet_setpoint.get().current.x;
_position_setpoint(1) = _sub_triplet_setpoint.get().current.y;
_velocity_setpoint(0) = _sub_triplet_setpoint.get().current.vx;
_velocity_setpoint(1) = _sub_triplet_setpoint.get().current.vy;
} else if (position_ctrl_xy) {
_position_setpoint(0) = _sub_triplet_setpoint.get().current.x;
_position_setpoint(1) = _sub_triplet_setpoint.get().current.y;
} else if (velocity_ctrl_xy) {
if (_sub_triplet_setpoint.get().current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_LOCAL_NED) {
// in local frame: don't require any transformation
_velocity_setpoint(0) = _sub_triplet_setpoint.get().current.vx;
_velocity_setpoint(1) = _sub_triplet_setpoint.get().current.vy;
} else if (_sub_triplet_setpoint.get().current.velocity_frame == position_setpoint_s::VELOCITY_FRAME_BODY_NED) {
// in body frame: need to transorm first
// Note, this transformation is wrong because body-xy is not neccessarily on the same plane as locale-xy
_velocity_setpoint(0) = cosf(_yaw) * _sub_triplet_setpoint.get().current.vx - sinf(
_yaw) * _sub_triplet_setpoint.get().current.vy;
_velocity_setpoint(1) = sinf(_yaw) * _sub_triplet_setpoint.get().current.vx + cosf(
_yaw) * _sub_triplet_setpoint.get().current.vy;
} else {
// no valid frame
return false;
}
}
// Z-direction
if (feedforward_ctrl_z) {
_position_setpoint(2) = _sub_triplet_setpoint.get().current.z;
_velocity_setpoint(2) = _sub_triplet_setpoint.get().current.vz;
} else if (position_ctrl_z) {
_position_setpoint(2) = _sub_triplet_setpoint.get().current.z;
} else if (velocity_ctrl_z) {
_velocity_setpoint(2) = _sub_triplet_setpoint.get().current.vz;
}
// Acceleration
// Note: this is not supported yet and will be mapped to normalized thrust directly.
if (_sub_triplet_setpoint.get().current.acceleration_valid) {
_acceleration_setpoint(0) = _sub_triplet_setpoint.get().current.a_x;
_acceleration_setpoint(1) = _sub_triplet_setpoint.get().current.a_y;
_acceleration_setpoint(2) = _sub_triplet_setpoint.get().current.a_z;
}
// use default conditions of upwards position or velocity to take off
_constraints.want_takeoff = _checkTakeoff();
return ret;
}
src/modules/flight_mode_manager/tasks/Offboard/FlightTaskOffboard.hpp
-65
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@@ -1,65 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2018 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 FlightTaskOffboard.hpp
*/
#pragma once
#include "FlightTask.hpp"
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/position_setpoint.h>
class FlightTaskOffboard : public FlightTask
{
public:
FlightTaskOffboard() = default;
virtual ~FlightTaskOffboard() = default;
bool update() override;
bool activate(const vehicle_local_position_setpoint_s &last_setpoint) override;
bool updateInitialize() override;
protected:
uORB::SubscriptionData<position_setpoint_triplet_s> _sub_triplet_setpoint{ORB_ID(position_setpoint_triplet)};
private:
matrix::Vector3f _position_lock{};
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
(ParamFloat<px4::params::MIS_TAKEOFF_ALT>) _param_mis_takeoff_alt
)
};