fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 23:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
39,499 Commits 852 Branches 161 Tags
f68ae3984040a179edf8403016969eccf6c42245
Commit Graph
133 Commits
Author SHA1 Message Date
Matthias Grob c522a8b15a Compute RTL time and react if lower than flight time 
- Compute RTL time also during RTL
- Calculate correct altitude when finding destination
 2021-11-24 14:10:24 +01:00
RomanBapst 514cf12c57 addressed review comments 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 3bd114bf9f RTL: if vehicle is a VTOL in hover, always consider all safe landing points 
Unless there is already a mission landing in progress,
in that case stay on the mission landing if RTL_TYPE
isn't set to closest.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer f4f9b8ebf2 RTL: replace deny_mission_landing logic by getDestinationTypeMissionLanding() 
The rtl instance decides on destination of RTL, and Navigator then switches to
mission mode if required.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer dd987c08a5 RTL: rename enum names for RTLType 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer a012f01dbc Navigator: clean up get_rtl_type() 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
Silvan Fuhrer 8dc6d5f208 RTL: set destination type to mission landing also in MC 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-11-05 17:58:21 +03:00
mcsauder 9301288d1f Add parameter and logic to set RTL heading mode. 2021-10-22 09:28:30 +02:00
RomanBapst 93075ad5e8 rtl: fixed computation of return altitude if destination is not home 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-09-05 10:26:24 +02:00
Daniel Agar 883624d915 lib/geo: move from ecl 2021-07-15 10:38:24 -04:00
Beat Küng ab701ae502 rtl: switch to events 2021-07-07 21:38:09 -04:00
David Jablonski ed7a5314d8 rtl: head towards home location after descend 2021-02-22 16:37:08 +01:00
David Jablonski aeccb621c5 rtl: added loiter radius for descending 2021-02-22 16:37:08 +01:00
Silvan Fuhrer 0ea8104344 select single system-wide wind estimate message (current best) 
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
 - rename message wind_estimate to wind
 - publish wind from currently used ekf instance (ekf2selector)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-02-20 13:15:01 -05:00
Daniel Agar ce552a3364 navigator: RTL don't get invalid params 2021-02-13 00:34:56 +01:00
Silvan Fuhrer acbada73dd RTL: VTOL: do the land delay loitering (RTL_LAND_DELAY) in fixed-wing flight 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-29 15:46:33 +03:00
Julian Kent af8d178ae5 Fix spurious RTL triggers 
Two sources:
1. global to local conversion was sometimes giving issues, so do everything in global
2. on startup the RTL didn't check if the home position was valid before processing it
 2021-01-18 16:26:53 +01:00
Julian Kent 5500a84b6a Add timestamp to RTL message 2021-01-18 16:26:53 +01:00
Julian Kent 67082ccb2b Test the vehicle type parameter usage 2021-01-18 16:26:53 +01:00
Julian Kent 100c64c790 Test the navigator side, and fix another trig edge case 2021-01-18 16:26:53 +01:00
Julian Kent a736ba2435 Minor tweak in wind handling 2021-01-18 16:26:53 +01:00
Julian Kent e847ef1a4d Add trig tests for wind calculations, and fix bugs / edge cases 2021-01-18 16:26:53 +01:00
Julian Kent 7482413005 Add Range-based RTL 2021-01-18 16:26:53 +01:00
Silvan Fuhrer 92634e7549 RTL: during climb, set NAV_CMD_WAYPOINT for RW modes, NAV_CMD_LOITER_TO_ALT for FW 
Do not use LOITER_TO_ALT for rotary wing mode as it would then always climb to
at least MIS_LTRMIN_ALT, even if current clib altitude is below
(e.g. RTL immediately after take off)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
Silvan Fuhrer 55a1d090a1 RTL: use NAV_CMD_LOITER_TO_ALT for Climb state 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-04 11:58:16 +01:00
RomanBapst b63f756745 navigator: don't execute land pattern if vtol in rotary wing mode 
- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst b63f202b3c various fixed for bugs encountered during testing 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst cfb3cdc82f rtl: use math namespace 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 94d3ab28ee rtl: fixed computation of return altitude when mission landing is available 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst a4a03e86da mission: be more intelligent about saying that we are on a mission landing 
- previously the decision of being on a landing pattern was taken by just
looking at the current mission index. However, even if the current mission
index indicates a landing pattern the vehicle could be at an arbitrary location, far
from being established on the pattern.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 29c3ce6d5d reworked RTL cone implementation 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst dad5ce1e41 rtl: set proper acceptance radius for move_to_land item 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 6ff95ae645 RTL: implement proper RTL sequence for VTOL 
- descend to RTL descend altitude
- transition
- move to land waypoint
- loiter and then land

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst 197a21a22e rtl: for fixed wing (also vtol) make the descend state of RTL use type 
NAV_CMD_LOITER_TO_ALT

- this allows vtol to track the loiter circle during the transition instead
of trying to fly to the landing position

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst bb2826ad27 rtl: for vtol first desend down to RTL descend altitude before doing a transition 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
RomanBapst e81d5daa66 rtl: if very close to home then do not descend if higher than RTL_DESCEND_ALT 
before reaching home

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-04 11:58:16 +01:00
Julian Kent d9b3db1082 Check that home position is valid in RTL (#15964) 2020-10-20 10:31:44 +02:00
Julian Kent e2e72fd81e Fix map distortion due to high latitudes (#15449) 2020-08-19 09:55:15 +02:00
Daniel Agar 97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic 
- vehicle_global_position yaw removed (redundant)
 2020-08-10 11:42:03 +02:00
RomanBapst 120f188ada rtl: do not use cone logic for vehicle flying as fixed wing 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2020-06-25 09:17:23 -04:00
Daniel Agar 9e509a4bec navigator: RTL minor whitespace and style fixes 2020-06-02 22:08:55 -04:00
Daniel Agar aca6be8b5c navigator: RTL destination throttle dataman access 2020-06-02 22:08:55 -04:00
Dusan Zivkovic a758ea1220 RTL: enable precision landing at the end of RTL, configurable by parameter 2020-05-29 09:11:01 +02:00
Daniel Agar 05886e053f mavlink_log_info: always print to console and merge with mavlink_and_console_log_info 2020-05-12 08:53:51 +02:00
Silvan Fuhrer 5b235c34c2 Rally Points: enable rally points always, except for RTL type == RTL_MISSION 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-11-22 08:18:25 +01:00
Silvan Fuhrer 0ce9329803 Safe Landing Points: Added new RTL_TYPE: closest between home, mission landing and safe points 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

Co-authored by Martina Rivizzigno <martina@rivizzigno.it>
 2019-10-28 09:54:59 +01:00
Silvan Fuhrer efafd91095 Rally Points in RTL: fly to closest Rally Point (safe point), or to home if that's closer 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2019-10-28 09:54:59 +01:00
RomanBapst 7c8fa82e76 rtl cone angle: expose a few values to the user 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
RomanBapst 81ee40eac8 rtl: implemented RTL based on cone shape 
- user defines a cone half angle which defines the RTL altitude behavior
- if vehicle is outside the cone it will climb until it intersects the cone
and then return at this altitude.
- if vehicle is inside the cone or above the predefined return altitude (RTL_RETURN_ALT)
then it will return at the current altitude

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2019-07-05 18:05:09 +02:00
Timothy Scott a134da6e12 Removed is_rotor_wing, replaced with vehicle_type 2019-06-13 10:04:26 +02:00