fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 14:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

FixedwingPositionControl: Add support for figure 8 loitering.

Browse Source 
The command is sent by a dedicated mavlink command and forwarded to the fixed wing position controller.

The pattern is defined by the radius of the major axis, the radius of the minor axis and the orientation. The pattern is then defined by:
The upper part of the pattern consist of a clockwise circle with radius defined by the minor axis. The center of the circle is defined by the major axis minus the minor axis away from the pattern center.
The lower part of the pattern consist of a counter-clockwise circle with the same definitions as above.
In between, the circles are connected with straight lines in a cross configuration. The lines are always tangetial to the circles.
The orientation rotates the major axis around the NED down axis.

The loitering logic is defined inside its own class used by the fixed wing position control module. It defines which segment (one of the circles or lines) is active and uses the path controller (npfg or l1-control) to determine the desired roll angle.

A feedback mavlink message is send with the executed pattern parameters.
This commit is contained in:
Konrad
2023-10-31 15:57:59 -04:00
committed by Daniel Agar
parent 0d6c2c8ce9
commit e5e66370e7
15 changed files with 1048 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/navigator_main.cpp
+75
View File
@@ -382,6 +382,27 @@ void Navigator::run()
rep->current.loiter_radius = get_loiter_radius();
}
if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
rep->current.loiter_minor_radius = curr->current.loiter_minor_radius;
} else {
rep->current.loiter_minor_radius = NAN;
}
if (PX4_ISFINITE(curr->current.loiter_orientation) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
rep->current.loiter_orientation = curr->current.loiter_orientation;
} else {
rep->current.loiter_orientation = 0.0f;
}
if (curr->current.loiter_pattern > 0) {
rep->current.loiter_pattern = curr->current.loiter_pattern;
} else {
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
}
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
}
@@ -505,6 +526,8 @@ void Navigator::run()
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
rep->current.cruising_throttle = get_cruising_throttle();
// on entering Loiter mode, reset speed setpoint to default
@@ -531,6 +554,58 @@ void Navigator::run()
mavlink_log_critical(&_mavlink_log_pub, "Orbit is outside geofence");
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_FIGUREEIGHT &&
get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
// Only valid for fixed wing mode
bool orbit_location_valid = true;
vehicle_global_position_s position_setpoint{};
position_setpoint.lat = PX4_ISFINITE(cmd.param5) ? cmd.param5 : get_global_position()->lat;
position_setpoint.lon = PX4_ISFINITE(cmd.param6) ? cmd.param6 : get_global_position()->lon;
position_setpoint.alt = PX4_ISFINITE(cmd.param7) ? cmd.param7 : get_global_position()->alt;
if (have_geofence_position_data) {
orbit_location_valid = geofence_allows_position(position_setpoint);
}
if (orbit_location_valid) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_minor_radius = fabsf(get_loiter_radius());
rep->current.loiter_direction_counter_clockwise = get_loiter_radius() < 0;
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT;
rep->current.cruising_speed = get_cruising_speed();
if (PX4_ISFINITE(cmd.param2) && fabsf(cmd.param2) > FLT_EPSILON) {
rep->current.loiter_minor_radius = fabsf(cmd.param2);
}
rep->current.loiter_radius = 2.5f * rep->current.loiter_minor_radius;
if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0;
}
rep->current.loiter_radius = math::max(rep->current.loiter_radius, 2.0f * rep->current.loiter_minor_radius);
if (PX4_ISFINITE(cmd.param4)) {
rep->current.loiter_orientation = cmd.param4;
}
rep->current.lat = position_setpoint.lat;
rep->current.lon = position_setpoint.lon;
rep->current.alt = position_setpoint.alt;
rep->current.valid = true;
rep->current.timestamp = hrt_absolute_time();
} else {
mavlink_log_critical(&_mavlink_log_pub, "Figure 8 is outside geofence");
}
} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF) {
position_setpoint_triplet_s *rep = get_takeoff_triplet();