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mc_pos_control: AUTO implemented, fixes

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This commit is contained in:
Anton Babushkin
2013-12-28 11:47:25 +04:00
parent 7b7539fbbd
commit f084ddfeb0
3 changed files with 79 additions and 737 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+18 -18
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@@ -319,11 +319,11 @@ private:
/**
* Control position.
*/
bool control_position(const math::Vector2f &global_pos, const math::Vector2f &ground_speed,
bool control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed,
const struct mission_item_triplet_s &_mission_item_triplet);
float calculate_target_airspeed(float airspeed_demand);
void calculate_gndspeed_undershoot(const math::Vector2f &current_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet);
void calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct mission_item_triplet_s &mission_item_triplet);
/**
* Shim for calling task_main from task_create.
@@ -680,13 +680,13 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand)
}
void
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &current_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet)
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct mission_item_triplet_s &mission_item_triplet)
{
if (_global_pos_valid) {
/* rotate ground speed vector with current attitude */
math::Vector2f yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
yaw_vector.normalize();
float ground_speed_body = yaw_vector * ground_speed;
@@ -697,7 +697,7 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &cu
distance = get_distance_to_next_waypoint(mission_item_triplet.previous.lat, mission_item_triplet.previous.lon, mission_item_triplet.current.lat, mission_item_triplet.current.lon);
delta_altitude = mission_item_triplet.current.altitude - mission_item_triplet.previous.altitude;
} else {
distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), mission_item_triplet.current.lat, mission_item_triplet.current.lon);
distance = get_distance_to_next_waypoint(current_position(0), current_position(1), mission_item_triplet.current.lat, mission_item_triplet.current.lon);
delta_altitude = mission_item_triplet.current.altitude - _global_pos.alt;
}
@@ -730,7 +730,7 @@ void FixedwingPositionControl::navigation_capabilities_publish()
}
bool
FixedwingPositionControl::control_position(const math::Vector2f &current_position, const math::Vector2f &ground_speed,
FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
const struct mission_item_triplet_s &mission_item_triplet)
{
bool setpoint = true;
@@ -765,26 +765,26 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
_tecs.set_speed_weight(_parameters.speed_weight);
/* current waypoint (the one currently heading for) */
math::Vector2f next_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
math::Vector<2> next_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
/* current waypoint (the one currently heading for) */
math::Vector2f curr_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
math::Vector<2> curr_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
/* previous waypoint */
math::Vector2f prev_wp;
math::Vector<2> prev_wp;
if (mission_item_triplet.previous_valid) {
prev_wp.setX(mission_item_triplet.previous.lat);
prev_wp.setY(mission_item_triplet.previous.lon);
prev_wp(0) = mission_item_triplet.previous.lat;
prev_wp(1) = mission_item_triplet.previous.lon;
} else {
/*
* No valid previous waypoint, go for the current wp.
* This is automatically handled by the L1 library.
*/
prev_wp.setX(mission_item_triplet.current.lat);
prev_wp.setY(mission_item_triplet.current.lon);
prev_wp(0) = mission_item_triplet.current.lat;
prev_wp(1) = mission_item_triplet.current.lon;
}
@@ -820,7 +820,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
/* Horizontal landing control */
/* switch to heading hold for the last meters, continue heading hold after */
float wp_distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), curr_wp.getX(), curr_wp.getY());
float wp_distance = get_distance_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
//warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
const float heading_hold_distance = 15.0f;
if (wp_distance < heading_hold_distance || land_noreturn_horizontal) {
@@ -829,7 +829,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// if (mission_item_triplet.previous_valid) {
// target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
// target_bearing = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), next_wp(0), next_wp(1));
// } else {
if (!land_noreturn_horizontal) //set target_bearing in first occurrence
@@ -870,7 +870,7 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
float airspeed_land = 1.3f * _parameters.airspeed_min;
float airspeed_approach = 1.3f * _parameters.airspeed_min;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length;
float L_wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1)) * _parameters.land_slope_length;
float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement);
@@ -989,8 +989,8 @@ FixedwingPositionControl::control_position(const math::Vector2f &current_positio
// warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
// (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp.getX(), (double)prev_wp.getY(),
// (double)next_wp.getX(), (double)next_wp.getY(), (mission_item_triplet.previous_valid) ? "valid" : "invalid");
// warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp(0), (double)prev_wp(1),
// (double)next_wp(0), (double)next_wp(1), (mission_item_triplet.previous_valid) ? "valid" : "invalid");
// XXX at this point we always want no loiter hold if a
// mission is active