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11 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
f496997060 | ||
|
Roman Bapst
|
cfb670fbb3 | ||
|
Daniel Agar
|
2b1d8c1d8e | ||
|
Daniel Agar
|
72cb4bee01 | ||
|
Beniamino Pozzan
|
f2c71a8874 | ||
|
Beniamino Pozzan
|
5a2e41c4e4 | ||
|
Beniamino Pozzan
|
a92897fb58 | ||
|
Daniel Agar
|
8eb2a0a3ec | ||
|
Mathieu Bresciani
|
a187bb3b80 | ||
|
Daniel Agar
|
c12d9124bd | ||
|
PX4 BuildBot
|
db791fa317 |
@@ -3,7 +3,7 @@
|
||||
|
||||
udp_offboard_port_local=$((14580+px4_instance))
|
||||
udp_offboard_port_remote=$((14540+px4_instance))
|
||||
[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
|
||||
udp_onboard_payload_port_local=$((14280+px4_instance))
|
||||
udp_onboard_payload_port_remote=$((14030+px4_instance))
|
||||
udp_onboard_gimbal_port_local=$((13030+px4_instance))
|
||||
|
||||
@@ -13,108 +13,97 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ]; then
|
||||
|
||||
# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
||||
if [ -f gazebo_env.sh ]; then
|
||||
if [ -f ./gazebo_env.sh ]; then
|
||||
. ./gazebo_env.sh
|
||||
|
||||
elif [ -f ../gazebo_env.sh ]; then
|
||||
. ../gazebo_env.sh
|
||||
fi
|
||||
|
||||
# shellcheck disable=SC2236
|
||||
if [ ! -z $PX4_GZ_VERBOSE ]; then
|
||||
if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
|
||||
gz_verbose=$PX4_GZ_VERBOSE
|
||||
else
|
||||
gz_verbose=4
|
||||
echo "WARN [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
|
||||
fi
|
||||
echo "INFO [init] PX4_GZ_VERBOSE set to $gz_verbose."
|
||||
else
|
||||
gz_verbose=1
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||||
echo "INFO [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
|
||||
fi
|
||||
gz_command="ign" # "ign" before garden
|
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gz_sub_command="gazebo" # "gazebo" before garden
|
||||
|
||||
gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
|
||||
gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
|
||||
gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
|
||||
gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
|
||||
# look for running ${gz_command} gazebo world
|
||||
gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
|
||||
|
||||
if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
|
||||
echo "INFO [init] using latest version of MultiCopterMotor plugin."
|
||||
else
|
||||
echo "WARN [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
|
||||
if [ "$PX4_SIM_MODEL" = "x500" ]; then
|
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PX4_SIM_MODEL="x500-Legacy"
|
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echo "WARN [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
|
||||
fi
|
||||
fi
|
||||
# shellcheck disable=SC2153
|
||||
if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
|
||||
|
||||
if [ -z $gz_world ]; then
|
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echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
|
||||
|
||||
# starting ign gazebo with ${PX4_GZ_WORLD} world
|
||||
echo "INFO [init] starting ign gazebo"
|
||||
# shellcheck disable=SC2153
|
||||
ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z $HEADLESS ]; then
|
||||
if [ -z "${HEADLESS}" ]; then
|
||||
# HEADLESS not set, starting ign gazebo gui
|
||||
ign gazebo -g &
|
||||
${gz_command} gazebo -g &
|
||||
fi
|
||||
|
||||
else
|
||||
echo "INFO [init] ign gazebo already running world: $gz_world"
|
||||
PX4_GZ_WORLD=$gz_world
|
||||
echo "INFO [init] gazebo already running world: ${gz_world}"
|
||||
PX4_GZ_WORLD=${gz_world}
|
||||
fi
|
||||
|
||||
# shellcheck disable=SC2236
|
||||
if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
|
||||
# start gz_bridge
|
||||
if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
|
||||
# model specified, gz_bridge will spawn model
|
||||
|
||||
# shellcheck disable=SC2236
|
||||
if [ ! -z $PX4_GZ_MODEL_POSE ]; then
|
||||
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
|
||||
# Clean potential input line formatting.
|
||||
model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
|
||||
model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
|
||||
echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
|
||||
|
||||
else
|
||||
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
|
||||
model_pose="0,0,0,0,0,0"
|
||||
fi
|
||||
|
||||
# start gz bridge with pose arg.
|
||||
if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] ign gazebo failed to start"
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
|
||||
|
||||
elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
|
||||
# model name specificed, gz_bridge will attach to existing model
|
||||
|
||||
if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] ign gazebo failed to start"
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
|
||||
|
||||
elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
|
||||
|
||||
echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
|
||||
|
||||
if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] ign gazebo failed to start"
|
||||
echo "ERROR [init] gazebo failed to start"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
else
|
||||
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
|
||||
echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
@@ -131,13 +120,13 @@ else
|
||||
echo "PX4 SIM HOST: localhost"
|
||||
simulator_mavlink start -c $simulator_tcp_port
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
|
||||
simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
|
||||
echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
|
||||
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
else
|
||||
echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
|
||||
simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
|
||||
echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
|
||||
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
|
||||
fi
|
||||
|
||||
fi
|
||||
|
||||
@@ -260,7 +260,19 @@ fi
|
||||
navigator start
|
||||
|
||||
# Try to start the microdds_client with UDP transport if module exists
|
||||
microdds_client start -t udp -p 8888
|
||||
microdds_ns=""
|
||||
if [ "$px4_instance" -ne "0" ]
|
||||
then
|
||||
# Assign new xrce dds key based on instance number and set default namespace
|
||||
param set XRCE_DDS_KEY ${px4_instance}
|
||||
microdds_ns="-n px4_$px4_instance"
|
||||
fi
|
||||
if [ -n "$PX4_MICRODDS_NS" ]
|
||||
then
|
||||
# Override namespace if environment variable is defined
|
||||
microdds_ns="-n $PX4_MICRODDS_NS"
|
||||
fi
|
||||
microdds_client start -t udp -p 8888 $microdds_ns
|
||||
|
||||
if param greater -s MNT_MODE_IN -1
|
||||
then
|
||||
|
||||
Submodule Tools/simulation/gazebo/sitl_gazebo updated: b38e701ec4...0c8b6fd26f
@@ -1,11 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>x500-Legacy</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
</author>
|
||||
<description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC. Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
|
||||
</model>
|
||||
@@ -1,76 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-Legacy'>
|
||||
<include merge='true'>
|
||||
<uri>model://x500-NoPlugin</uri>
|
||||
</include>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<robotNamespace>/x500-Legacy_0</robotNamespace>
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000.0</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
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@@ -2,13 +2,12 @@
|
||||
"version": "0.2.0",
|
||||
"configurations": [
|
||||
{
|
||||
"name": "SITL (GZ)",
|
||||
"name": "SITL (gz)",
|
||||
"type": "cppdbg",
|
||||
"request": "launch",
|
||||
"program": "${command:cmake.launchTargetPath}",
|
||||
"args": [
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common",
|
||||
"-s", "etc/init.d-posix/rcS"
|
||||
"${workspaceFolder}/ROMFS/px4fmu_common"
|
||||
],
|
||||
"stopAtEntry": false,
|
||||
"cwd": "${command:cmake.buildDirectory}/rootfs",
|
||||
|
||||
+1
-1
Submodule src/drivers/gps/devices updated: b49a6c2573...b76fc1df45
@@ -103,8 +103,8 @@ bool Ekf::update()
|
||||
// Only run the filter if IMU data in the buffer has been updated
|
||||
if (_imu_updated) {
|
||||
// perform state and covariance prediction for the main filter
|
||||
predictState();
|
||||
predictCovariance();
|
||||
predictState();
|
||||
|
||||
// control fusion of observation data
|
||||
controlFusionModes();
|
||||
|
||||
@@ -204,8 +204,6 @@ public:
|
||||
// get the orientation (quaterion) covariances
|
||||
matrix::SquareMatrix<float, 4> orientation_covariances() const { return P.slice<4, 4>(0, 0); }
|
||||
|
||||
matrix::SquareMatrix<float, 3> orientation_covariances_euler() const;
|
||||
|
||||
// get the linear velocity covariances
|
||||
matrix::SquareMatrix<float, 3> velocity_covariances() const { return P.slice<3, 3>(4, 4); }
|
||||
|
||||
@@ -391,6 +389,9 @@ public:
|
||||
// use the latest IMU data at the current time horizon.
|
||||
Quatf calculate_quaternion() const;
|
||||
|
||||
// rotate quaternion covariances into variances for an equivalent rotation vector
|
||||
Vector3f calcRotVecVariances() const;
|
||||
|
||||
// set minimum continuous period without GPS fail required to mark a healthy GPS status
|
||||
void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; }
|
||||
|
||||
@@ -967,9 +968,6 @@ private:
|
||||
// calculate the measurement variance for the optical flow sensor
|
||||
float calcOptFlowMeasVar(const flowSample &flow_sample);
|
||||
|
||||
// rotate quaternion covariances into variances for an equivalent rotation vector
|
||||
Vector3f calcRotVecVariances();
|
||||
|
||||
// initialise the quaternion covariances using rotation vector variances
|
||||
// do not call before quaternion states are initialised
|
||||
void initialiseQuatCovariances(Vector3f &rot_vec_var);
|
||||
|
||||
@@ -966,7 +966,7 @@ void Ekf::updateVerticalDeadReckoningStatus()
|
||||
}
|
||||
|
||||
// calculate the variances for the rotation vector equivalent
|
||||
Vector3f Ekf::calcRotVecVariances()
|
||||
Vector3f Ekf::calcRotVecVariances() const
|
||||
{
|
||||
Vector3f rot_var_vec;
|
||||
float q0, q1, q2, q3;
|
||||
@@ -1521,60 +1521,3 @@ void Ekf::resetGpsDriftCheckFilters()
|
||||
_gps_vertical_position_drift_rate_m_s = NAN;
|
||||
_gps_filtered_horizontal_velocity_m_s = NAN;
|
||||
}
|
||||
|
||||
matrix::SquareMatrix<float, 3> Ekf::orientation_covariances_euler() const
|
||||
{
|
||||
// Jacobian matrix (3x4) containing the partial derivatives of the
|
||||
// Euler angle equations with respect to the quaternions
|
||||
matrix::Matrix<float, 3, 4> G;
|
||||
|
||||
// quaternion components
|
||||
float q1 = _state.quat_nominal(0);
|
||||
float q2 = _state.quat_nominal(1);
|
||||
float q3 = _state.quat_nominal(2);
|
||||
float q4 = _state.quat_nominal(3);
|
||||
|
||||
// numerator components
|
||||
float n1 = 2 * q1 * q2 + 2 * q2 * q4;
|
||||
float n2 = -2 * q2 * q2 - 2 * q3 * q3 + 1;
|
||||
float n3 = 2 * q1 * q4 + 2 * q2 * q3;
|
||||
float n4 = -2 * q3 * q3 - 2 * q4 * q4 + 1;
|
||||
float n5 = 2 * q1 * q3 + 2 * q2 * q4;
|
||||
float n6 = -2 * q1 * q2 - 2 * q2 * q4;
|
||||
float n7 = -2 * q1 * q4 - 2 * q2 * q3;
|
||||
|
||||
// Protect against division by 0
|
||||
float d1 = n1 * n1 + n2 * n2;
|
||||
float d2 = n3 * n3 + n4 * n4;
|
||||
|
||||
if (fabsf(d1) < FLT_EPSILON) {
|
||||
d1 = FLT_EPSILON;
|
||||
}
|
||||
|
||||
if (fabsf(d2) < FLT_EPSILON) {
|
||||
d2 = FLT_EPSILON;
|
||||
}
|
||||
|
||||
// Protect against square root of negative numbers
|
||||
float x = math::max(-n5 * n5 + 1, 0.0f);
|
||||
|
||||
// compute G matrix
|
||||
float sqrt_x = sqrtf(x);
|
||||
float g00_03 = 2 * q2 * n2 / d1;
|
||||
G(0, 0) = g00_03;
|
||||
G(0, 1) = -4 * q2 * n6 / d1 + (2 * q1 + 2 * q4) * n2 / d1;
|
||||
G(0, 2) = -4 * q3 * n6 / d1;
|
||||
G(0, 3) = g00_03;
|
||||
G(1, 0) = 2 * q3 / sqrt_x;
|
||||
G(1, 1) = 2 * q4 / sqrt_x;
|
||||
G(1, 2) = 2 * q1 / sqrt_x;
|
||||
G(1, 3) = 2 * q2 / sqrt_x;
|
||||
G(2, 0) = 2 * q4 * n4 / d2;
|
||||
G(2, 1) = 2 * q3 * n4 / d2;
|
||||
G(2, 2) = 2 * q2 * n4 / d2 - 4 * q3 * n7 / d2;
|
||||
G(2, 3) = 2 * q1 * n4 / d2 - 4 * q4 * n7 / d2;
|
||||
|
||||
const matrix::SquareMatrix<float, 4> quat_covariances = P.slice<4, 4>(0, 0);
|
||||
|
||||
return G * quat_covariances * G.transpose();
|
||||
}
|
||||
|
||||
@@ -1196,7 +1196,7 @@ void EKF2::PublishOdometry(const hrt_abstime ×tamp)
|
||||
_ekf.position_covariances().diag().copyTo(odom.position_variance);
|
||||
|
||||
// orientation covariance
|
||||
_ekf.orientation_covariances_euler().diag().copyTo(odom.orientation_variance);
|
||||
_ekf.calcRotVecVariances().copyTo(odom.orientation_variance);
|
||||
|
||||
odom.reset_counter = _ekf.get_quat_reset_count()
|
||||
+ _ekf.get_velNE_reset_count() + _ekf.get_velD_reset_count()
|
||||
|
||||
@@ -245,6 +245,33 @@ bool EKF2Selector::UpdateErrorScores()
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// find highest priority IMU and record which estimator instances are using it
|
||||
uint8_t highest_priority = 0;
|
||||
|
||||
for (unsigned i = 0; i < IMU_STATUS_SIZE; i++) {
|
||||
if ((sensors_status_imu.accel_device_ids[i] != 0)
|
||||
&& (sensors_status_imu.accel_priority[i] > highest_priority)
|
||||
) {
|
||||
highest_priority = sensors_status_imu.accel_priority[i];
|
||||
}
|
||||
}
|
||||
|
||||
for (auto &inst : _instance) {
|
||||
inst.imu_highest_priority = false; // clear
|
||||
|
||||
if (inst.accel_device_id != 0) {
|
||||
for (unsigned i = 0; i < IMU_STATUS_SIZE; i++) {
|
||||
if ((inst.accel_device_id == sensors_status_imu.accel_device_ids[i])
|
||||
&& (sensors_status_imu.accel_priority[i] > 0)
|
||||
&& (sensors_status_imu.accel_priority[i] == highest_priority)
|
||||
) {
|
||||
inst.imu_highest_priority = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
@@ -254,7 +281,7 @@ bool EKF2Selector::UpdateErrorScores()
|
||||
// default estimator timeout
|
||||
const hrt_abstime status_timeout = 50_ms;
|
||||
|
||||
// calculate individual error scores
|
||||
// calculate individual error scores
|
||||
for (uint8_t i = 0; i < EKF2_MAX_INSTANCES; i++) {
|
||||
const bool prev_healthy = _instance[i].healthy.get_state();
|
||||
|
||||
@@ -742,6 +769,16 @@ void EKF2Selector::Run()
|
||||
}
|
||||
}
|
||||
|
||||
// prefer higher priority IMU if relative error is the same or better
|
||||
if (_instance[i].imu_highest_priority && !_instance[_selected_instance].imu_highest_priority) {
|
||||
|
||||
if (!lower_error_available && (relative_error <= 0.f)
|
||||
&& (hrt_elapsed_time(&_instance[i].time_last_selected) > 10_s)) {
|
||||
best_ekf_alternate = i;
|
||||
lower_error_available = true;
|
||||
}
|
||||
}
|
||||
|
||||
if ((test_ratio > 0) && (test_ratio < best_test_ratio)) {
|
||||
best_ekf = i;
|
||||
best_test_ratio = test_ratio;
|
||||
|
||||
@@ -134,6 +134,9 @@ private:
|
||||
|
||||
systemlib::Hysteresis healthy{false};
|
||||
|
||||
bool imu_highest_priority{false};
|
||||
bool mag_highest_priority{false};
|
||||
|
||||
bool warning{false};
|
||||
bool filter_fault{false};
|
||||
bool timeout{false};
|
||||
|
||||
@@ -1,13 +1,13 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
10000,1,-0.011,-0.011,-0.00011,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
90000,1,-0.011,-0.01,-0.022,-0.0011,0.00084,-0.011,-5.7e-05,2.6e-05,-0.00039,0,0,0,0,0,0,0.19,9.3e-10,0.4,0,0,0,0,0,1.5e-06,0.0025,0.0025,0.0021,0.26,0.26,0.56,0.25,0.25,4,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
190000,1,-0.011,-0.01,-0.022,-0.0012,1.8e-05,-0.025,-0.00014,5.9e-05,-0.002,4.7e-15,-9.3e-15,-2.4e-16,-1.5e-12,1.6e-12,-7.5e-11,0.19,9.3e-10,0.4,0,0,0,0,0,1.1e-06,0.0026,0.0026,0.0012,0.28,0.28,0.56,0.26,0.26,1.3,1e-06,1e-06,9.9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
290000,1,-0.011,-0.011,-0.022,0.00047,0.00042,-0.039,1.7e-05,-4.6e-06,-0.0038,9e-13,-7.8e-13,-1e-14,-7.6e-12,7.7e-12,-9.1e-09,0.19,9.3e-10,0.4,0,0,0,0,0,1e-06,0.0027,0.0027,0.00084,25,25,0.56,1e+02,1e+02,0.4,1e-06,1e-06,9.8e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
390000,1,-0.011,-0.011,-0.022,0.0012,0.00016,-0.053,0.0001,4.7e-05,-0.0064,1.3e-12,1.3e-12,2.5e-13,-7.6e-12,7.7e-12,-7.9e-08,0.19,9.3e-10,0.4,0,0,0,0,0,9.8e-07,0.0028,0.0028,0.00069,25,25,0.56,1e+02,1e+02,0.23,1e-06,1e-06,9.5e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
490000,1,-0.011,-0.011,-0.022,0.003,-0.00086,-0.068,0.00017,-4.7e-05,-0.0099,1.7e-11,3.9e-11,1e-12,-7.6e-12,7.7e-12,-3.4e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1e-06,0.0031,0.0031,0.00062,25,25,0.55,0.37,0.37,0.17,1e-06,1e-06,9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
590000,1,-0.011,-0.012,-0.022,0.0044,-0.00055,-0.079,0.00055,-0.00012,-0.014,8.6e-11,2.5e-10,1.4e-12,-7.6e-12,7.7e-12,-8.8e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1.1e-06,0.0033,0.0033,0.0006,25,25,0.54,0.97,0.97,0.15,1e-06,1e-06,8.4e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,1,-0.011,-0.012,-0.022,0.004,-0.0013,-0.09,0.0003,-0.0001,-0.019,-1.4e-09,-9.3e-09,1.1e-10,-7.6e-12,7.7e-12,-2.1e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.2e-06,0.0036,0.0036,0.00059,7.8,7.8,0.51,0.34,0.34,0.13,1e-06,1e-06,7.7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
790000,1,-0.011,-0.012,-0.022,0.0056,-0.0014,-0.1,0.00076,-0.00025,-0.024,-9.6e-10,-7.9e-09,1e-10,-7.6e-12,7.7e-12,-3.9e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.3e-06,0.004,0.004,0.00059,7.9,7.9,0.48,0.67,0.67,0.13,1e-06,1e-06,6.9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
190000,1,-0.011,-0.01,-0.022,-0.0012,1.8e-05,-0.025,-0.00014,5.9e-05,-0.002,4.7e-15,-1e-14,-2.5e-16,-1.5e-12,1.6e-12,-7.5e-11,0.19,9.3e-10,0.4,0,0,0,0,0,1.1e-06,0.0026,0.0026,0.0012,0.28,0.28,0.56,0.26,0.26,1.3,1e-06,1e-06,9.9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
290000,1,-0.011,-0.011,-0.022,0.00047,0.00042,-0.039,1.7e-05,-4.6e-06,-0.0038,8.8e-13,-9.1e-13,-1e-14,-7.6e-12,7.7e-12,-9.1e-09,0.19,9.3e-10,0.4,0,0,0,0,0,1e-06,0.0027,0.0027,0.00084,25,25,0.56,1e+02,1e+02,0.4,1e-06,1e-06,9.8e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
390000,1,-0.011,-0.011,-0.022,0.0012,0.00016,-0.053,0.0001,4.7e-05,-0.0064,1.1e-12,-2.8e-13,2.6e-13,-7.6e-12,7.7e-12,-7.9e-08,0.19,9.3e-10,0.4,0,0,0,0,0,9.8e-07,0.0028,0.0028,0.00069,25,25,0.56,1e+02,1e+02,0.23,1e-06,1e-06,9.5e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
490000,1,-0.011,-0.011,-0.022,0.003,-0.00086,-0.068,0.00017,-4.7e-05,-0.0099,1.6e-11,3.1e-11,1.1e-12,-7.6e-12,7.7e-12,-3.4e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1e-06,0.0031,0.0031,0.00062,25,25,0.55,0.37,0.37,0.17,1e-06,1e-06,9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
590000,1,-0.011,-0.012,-0.022,0.0044,-0.00055,-0.079,0.00055,-0.00012,-0.014,8.3e-11,2.3e-10,1.9e-12,-7.6e-12,7.7e-12,-8.8e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1.1e-06,0.0033,0.0033,0.0006,25,25,0.54,0.97,0.97,0.15,1e-06,1e-06,8.4e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,1,-0.011,-0.012,-0.022,0.004,-0.0013,-0.09,0.0003,-0.0001,-0.019,-1.4e-09,-9.4e-09,1.2e-10,-7.6e-12,7.7e-12,-2.1e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.2e-06,0.0036,0.0036,0.00059,7.8,7.8,0.51,0.34,0.34,0.13,1e-06,1e-06,7.7e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
790000,1,-0.011,-0.012,-0.022,0.0056,-0.0014,-0.1,0.00076,-0.00025,-0.024,-9.8e-10,-8.1e-09,1e-10,-7.6e-12,7.7e-12,-3.9e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.3e-06,0.004,0.004,0.00059,7.9,7.9,0.48,0.67,0.67,0.13,1e-06,1e-06,6.9e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
890000,1,-0.011,-0.012,-0.022,0.007,-0.002,-0.11,0.00053,-0.00018,-0.034,-1.1e-08,-4.3e-08,6.2e-10,-7.6e-12,7.7e-12,-3.9e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.4e-06,0.0044,0.0044,0.00059,2.7,2.7,0.49,0.26,0.26,0.17,1e-06,1e-06,6.1e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
990000,1,-0.011,-0.013,-0.022,0.011,-0.0039,-0.13,0.0014,-0.00046,-0.047,-1.1e-08,-4.3e-08,6.2e-10,-7.6e-12,7.7e-12,-3.9e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.6e-06,0.0048,0.0048,0.00058,2.8,2.8,0.49,0.42,0.42,0.21,1e-06,1e-06,5.3e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
1090000,1,-0.011,-0.013,-0.022,0.011,-0.0046,-0.14,0.0011,-0.0004,-0.06,-5.9e-08,-2e-07,2.8e-09,-7.6e-12,7.7e-12,-3.9e-06,0.19,9.3e-10,0.4,0,0,0,0,0,1.8e-06,0.0052,0.0052,0.00058,1.3,1.3,0.5,0.2,0.2,0.27,9.9e-07,9.9e-07,4.6e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
@@ -34,14 +34,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
3190000,1,-0.011,-0.012,-0.022,0.02,-0.0038,-0.43,0.0052,-0.0014,-0.67,-1.2e-05,-3.7e-05,3.6e-07,-7.6e-12,7.7e-12,-4.2e-06,0.19,9.3e-10,0.4,0,0,0,0,0,9.2e-07,0.0022,0.0022,0.0003,0.66,0.66,0.85,0.15,0.15,4.4,2.5e-07,2.5e-07,3.5e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
3290000,1,-0.011,-0.012,-0.022,0.023,-0.0047,-0.44,0.0074,-0.0019,-0.71,-1.2e-05,-3.7e-05,3.6e-07,-7.6e-12,7.7e-12,-4.2e-06,0.19,9.3e-10,0.4,0,0,0,0,0,9.9e-07,0.0024,0.0024,0.00029,0.81,0.81,0.87,0.22,0.22,4.7,2.5e-07,2.5e-07,3.2e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
3390000,1,-0.011,-0.012,-0.022,0.018,-0.0036,-0.45,0.0049,-0.0012,-0.75,-1.2e-05,-4e-05,3.7e-07,-7.6e-12,7.7e-12,-4.1e-06,0.19,9.3e-10,0.4,0,0,0,0,0,7.9e-07,0.0019,0.0019,0.00029,0.58,0.58,0.9,0.14,0.14,5.1,2.2e-07,2.2e-07,2.9e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
3490000,1,-0.011,-0.012,-0.022,0.022,-0.0052,-0.47,0.0069,-0.0016,-0.8,-1.2e-05,-4e-05,3.7e-07,-7.6e-12,7.7e-12,-4.1e-06,0.19,9.3e-10,0.4,0,0,0,0,0,8.5e-07,0.0021,0.0021,0.00028,0.71,0.71,0.92,0.2,0.2,5.6,2.2e-07,2.2e-07,2.7e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
3490000,1,-0.011,-0.012,-0.022,0.022,-0.0052,-0.47,0.0069,-0.0016,-0.8,-1.2e-05,-4e-05,3.7e-07,-7.6e-12,7.7e-12,-4.1e-06,0.19,9.3e-10,0.4,0,0,0,0,0,8.4e-07,0.0021,0.0021,0.00028,0.71,0.71,0.92,0.2,0.2,5.6,2.2e-07,2.2e-07,2.7e-08,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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@@ -71,7 +71,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -118,14 +118,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -133,17 +133,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -164,19 +164,19 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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||||
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||||
17790000,0.71,0.00018,-0.013,0.71,0.0077,0.00029,0.00064,-0.0021,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4.2e-06,-1.8e-05,5.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.7e-05,0.00014,0.00014,8.4e-05,0.033,0.033,0.016,0.045,0.045,0.048,7.1e-10,7.1e-10,7.8e-10,3.2e-06,3.2e-06,1.1e-07,0,0,0,0,0,0,0,0
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||||
17890000,0.71,0.00019,-0.013,0.71,0.0092,-0.00047,0.00074,-0.0012,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.8e-05,5.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.6e-05,0.00014,0.00014,8.4e-05,0.037,0.037,0.016,0.052,0.052,0.048,7.1e-10,7.1e-10,7.6e-10,3.2e-06,3.2e-06,1.1e-07,0,0,0,0,0,0,0,0
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||||
17990000,0.71,0.00014,-0.013,0.71,0.011,-0.0022,0.002,-0.00052,-0.0019,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.8e-05,5.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.4e-05,0.032,0.032,0.016,0.045,0.045,0.047,6.4e-10,6.4e-10,7.5e-10,3.1e-06,3.1e-06,1e-07,0,0,0,0,0,0,0,0
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||||
@@ -192,13 +192,13 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
18990000,0.71,9.5e-05,-0.012,0.71,0.014,0.0015,0.0029,0.0063,-0.0007,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.029,0.029,0.012,0.045,0.045,0.044,4e-10,4e-10,6.1e-10,3e-06,3e-06,6.6e-08,0,0,0,0,0,0,0,0
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||||
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||||
19190000,0.71,8.2e-05,-0.012,0.71,0.015,0.0021,0.0059,0.0086,-0.00045,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00011,8.1e-05,0.028,0.028,0.012,0.045,0.045,0.044,3.6e-10,3.6e-10,5.9e-10,3e-06,3e-06,6.2e-08,0,0,0,0,0,0,0,0
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||||
19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00012,8e-05,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,6e-08,0,0,0,0,0,0,0,0
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||||
19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00026,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00012,8e-05,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,6e-08,0,0,0,0,0,0,0,0
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||||
19390000,0.71,0.00012,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.028,0.028,0.012,0.045,0.045,0.043,3.3e-10,3.3e-10,5.6e-10,3e-06,3e-06,5.8e-08,0,0,0,0,0,0,0,0
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||||
19490000,0.71,0.00014,-0.012,0.71,0.012,-0.00032,0.0088,0.0092,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.6e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-10,3.3e-10,5.5e-10,3e-06,3e-06,5.6e-08,0,0,0,0,0,0,0,0
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||||
19590000,0.71,0.00019,-0.012,0.71,0.0097,-0.0013,0.0081,0.0075,-0.0003,-3.7e+02,-1.4e-05,-6.1e-05,5.9e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-10,3e-10,5.4e-10,3e-06,3e-06,5.4e-08,0,0,0,0,0,0,0,0
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||||
19690000,0.71,0.00019,-0.012,0.71,0.01,-0.0035,0.0096,0.0085,-0.00055,-3.7e+02,-1.4e-05,-6.1e-05,5.7e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,3e-10,3e-10,5.3e-10,3e-06,3e-06,5.2e-08,0,0,0,0,0,0,0,0
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||||
19790000,0.71,0.00026,-0.012,0.71,0.0078,-0.0044,0.01,0.0068,-0.00044,-3.7e+02,-1.4e-05,-6.1e-05,5.8e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-10,2.7e-10,5.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
19890000,0.71,0.0002,-0.012,0.71,0.0065,-0.0047,0.011,0.0076,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,6.1e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-10,2.7e-10,5.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
19890000,0.71,0.0002,-0.012,0.71,0.0065,-0.0047,0.011,0.0076,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,6.2e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-10,2.7e-10,5.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
19990000,0.71,0.00019,-0.012,0.71,0.0041,-0.0053,0.014,0.0062,-0.00076,-3.7e+02,-1.4e-05,-6.1e-05,6.7e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-10,2.5e-10,5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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||||
20090000,0.71,0.00018,-0.012,0.71,0.0039,-0.0073,0.014,0.0065,-0.0014,-3.7e+02,-1.4e-05,-6.1e-05,7.1e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.028,0.028,0.01,0.05,0.05,0.042,2.5e-10,2.5e-10,4.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
20190000,0.71,0.00029,-0.012,0.71,0.0015,-0.008,0.017,0.0042,-0.0011,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.6e-05,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.9e-05,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-10,2.3e-10,4.8e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
@@ -210,7 +210,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
20790000,0.71,0.0004,-0.012,0.71,-0.0033,-0.011,0.015,0.0014,-0.0025,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.1e-05,7.7e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.7e-05,0.023,0.023,0.0091,0.043,0.043,0.04,1.8e-10,1.8e-10,4.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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||||
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|
||||
20990000,0.71,0.00039,-0.012,0.71,-0.004,-0.014,0.015,0.0027,-0.0031,-3.7e+02,-1.4e-05,-6e-05,7.5e-06,-8.6e-06,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.8e-05,9.8e-05,7.7e-05,0.023,0.023,0.0089,0.043,0.043,0.039,1.7e-10,1.7e-10,4.2e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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||||
21090000,0.71,0.00039,-0.012,0.71,-0.0041,-0.017,0.015,0.0023,-0.0047,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,-8.6e-06,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.9e-05,9.9e-05,7.7e-05,0.025,0.025,0.0089,0.048,0.048,0.039,1.7e-10,1.7e-10,4.1e-10,2.9e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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||||
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||||
21190000,0.71,0.00042,-0.012,0.71,-0.0033,-0.016,0.014,0.0037,-0.0038,-3.7e+02,-1.4e-05,-6e-05,7.6e-06,-6.2e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.7e-05,9.7e-05,7.7e-05,0.022,0.022,0.0087,0.043,0.043,0.039,1.5e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
21290000,0.71,0.00046,-0.012,0.71,-0.0039,-0.018,0.016,0.0034,-0.0054,-3.7e+02,-1.4e-05,-6e-05,7.9e-06,-6.2e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.8e-05,9.8e-05,7.6e-05,0.024,0.024,0.0086,0.048,0.048,0.039,1.6e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
21390000,0.71,0.00051,-0.012,0.71,-0.0047,-0.017,0.016,0.0029,-0.0034,-3.7e+02,-1.4e-05,-6e-05,7.7e-06,-2.5e-06,7.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.9e-05,9.6e-05,9.6e-05,7.6e-05,0.022,0.022,0.0085,0.043,0.043,0.039,1.4e-10,1.4e-10,3.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
@@ -234,7 +234,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
23190000,0.71,0.00065,-0.012,0.71,-0.014,-0.0066,0.024,-0.012,-0.0013,-3.7e+02,-1.4e-05,-5.9e-05,6.7e-06,1.5e-05,7.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.5e-05,8.9e-05,8.9e-05,7.3e-05,0.018,0.018,0.0077,0.041,0.041,0.036,8.2e-11,8.2e-11,2.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
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@@ -259,7 +259,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -268,7 +268,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -280,24 +280,24 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -305,87 +305,87 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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38890000,-0.67,0.0026,-0.0028,0.74,-0.0092,0.044,0.48,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,7.7e-06,-0.0022,0.0014,-0.001,0.21,0.0021,0.44,0,0,0,0,0,5.4e-05,1.8e-05,1.9e-05,5.8e-05,0.045,0.045,0.0075,0.64,0.64,0.032,3e-11,3e-11,6e-11,1.4e-06,1.4e-06,5e-08,0,0,0,0,0,0,0,0
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||||
|
||||
|
@@ -1,112 +1,112 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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||||
10000,1,-0.0099,-0.011,-0.0001,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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@@ -171,8 +171,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -190,9 +190,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -209,24 +209,24 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -257,7 +257,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -280,17 +280,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -319,7 +319,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -337,13 +337,13 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
33490000,0.98,-0.0082,-0.013,0.18,0.0093,-0.067,-0.12,0.06,-0.021,-0.0085,-1.4e-05,-5.6e-05,2.3e-06,0.00025,-0.00017,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,6.1e-05,6e-05,4.3e-05,0.042,0.042,0.0061,0.044,0.044,0.034,2.6e-11,2.6e-11,8.8e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33590000,0.98,-0.0078,-0.013,0.18,0.0055,-0.058,-0.11,0.063,-0.017,-0.015,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.0002,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,5.3e-05,5.3e-05,4.3e-05,0.04,0.041,0.006,0.04,0.04,0.034,2.6e-11,2.6e-11,8.7e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,0.98,-0.0078,-0.013,0.18,0.00076,-0.058,-0.11,0.063,-0.023,-0.023,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.0002,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,5.4e-05,5.3e-05,4.3e-05,0.048,0.048,0.0059,0.046,0.046,0.034,2.6e-11,2.6e-11,8.6e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33790000,0.98,-0.0075,-0.013,0.18,-0.0024,-0.047,-0.11,0.067,-0.018,-0.029,-1.4e-05,-5.6e-05,2.3e-06,0.00023,-0.00022,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,4.7e-05,4.6e-05,4.3e-05,0.045,0.045,0.0059,0.041,0.041,0.034,2.6e-11,2.6e-11,8.6e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33790000,0.98,-0.0075,-0.013,0.18,-0.0024,-0.047,-0.11,0.067,-0.018,-0.029,-1.4e-05,-5.6e-05,2.3e-06,0.00023,-0.00022,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,4.7e-05,4.6e-05,4.3e-05,0.045,0.045,0.0059,0.041,0.041,0.034,2.6e-11,2.6e-11,8.6e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33890000,0.98,-0.0076,-0.013,0.18,-0.0066,-0.045,-0.11,0.066,-0.023,-0.035,-1.4e-05,-5.6e-05,2.4e-06,0.00023,-0.00022,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,4.7e-05,4.7e-05,4.3e-05,0.052,0.053,0.0058,0.047,0.047,0.033,2.6e-11,2.6e-11,8.5e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33990000,0.98,-0.0073,-0.013,0.18,-0.0062,-0.031,-0.1,0.069,-0.015,-0.038,-1.4e-05,-5.6e-05,2.3e-06,0.00021,-0.00025,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,4.1e-05,4.1e-05,4.3e-05,0.047,0.047,0.0058,0.042,0.042,0.033,2.6e-11,2.6e-11,8.4e-11,2.5e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34090000,0.98,-0.0072,-0.013,0.18,-0.011,-0.031,-0.1,0.069,-0.018,-0.042,-1.4e-05,-5.6e-05,2.3e-06,0.00021,-0.00025,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,4.1e-05,4.1e-05,4.3e-05,0.054,0.055,0.0058,0.049,0.049,0.033,2.6e-11,2.6e-11,8.4e-11,2.5e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34190000,0.98,-0.0071,-0.013,0.18,-0.011,-0.02,-0.098,0.072,-0.013,-0.045,-1.4e-05,-5.6e-05,2.3e-06,0.00019,-0.00027,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.7e-05,3.7e-05,4.2e-05,0.048,0.048,0.0058,0.043,0.043,0.033,2.6e-11,2.6e-11,8.3e-11,2.4e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.98,-0.007,-0.013,0.18,-0.012,-0.02,-0.097,0.071,-0.015,-0.05,-1.4e-05,-5.6e-05,2.3e-06,0.00019,-0.00027,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.7e-05,3.7e-05,4.2e-05,0.055,0.055,0.0058,0.05,0.05,0.033,2.6e-11,2.6e-11,8.2e-11,2.4e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.98,-0.0069,-0.013,0.18,-0.013,-0.01,-0.092,0.072,-0.01,-0.054,-1.4e-05,-5.6e-05,2.3e-06,0.00017,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.3e-05,3.3e-05,4.2e-05,0.047,0.047,0.0058,0.044,0.044,0.033,2.6e-11,2.6e-11,8.2e-11,2.3e-06,2.3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.98,-0.0069,-0.013,0.18,-0.013,-0.01,-0.092,0.073,-0.01,-0.054,-1.4e-05,-5.6e-05,2.3e-06,0.00017,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.3e-05,3.3e-05,4.2e-05,0.047,0.047,0.0058,0.044,0.044,0.033,2.6e-11,2.6e-11,8.2e-11,2.3e-06,2.3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.98,-0.007,-0.013,0.18,-0.016,-0.0091,-0.089,0.071,-0.011,-0.056,-1.4e-05,-5.6e-05,2.3e-06,0.00017,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.4e-05,3.3e-05,4.2e-05,0.053,0.054,0.0059,0.051,0.051,0.032,2.6e-11,2.6e-11,8.1e-11,2.3e-06,2.3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.98,-0.0069,-0.013,0.18,-0.014,-0.0048,0.71,0.073,-0.0088,-0.027,-1.4e-05,-5.6e-05,2.3e-06,0.00016,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.1e-05,3.1e-05,4.2e-05,0.044,0.044,0.0059,0.045,0.045,0.032,2.6e-11,2.6e-11,8e-11,2.2e-06,2.2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.98,-0.0069,-0.012,0.18,-0.017,-0.0025,1.7,0.071,-0.0091,0.092,-1.4e-05,-5.6e-05,2.2e-06,0.00016,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.1e-05,3.1e-05,4.2e-05,0.047,0.048,0.006,0.052,0.052,0.032,2.6e-11,2.6e-11,8e-11,2.2e-06,2.2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -50,6 +50,7 @@ add_custom_command(
|
||||
git_mavlink_v2
|
||||
${MAVLINK_GIT_DIR}/pymavlink/tools/mavgen.py
|
||||
${MAVLINK_GIT_DIR}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml
|
||||
${BOARD_DEFCONFIG}
|
||||
COMMENT "Generating Mavlink ${CONFIG_MAVLINK_DIALECT}: ${MAVLINK_GIT_DIR_RELATIVE}/message_definitions/v1.0/${CONFIG_MAVLINK_DIALECT}.xml"
|
||||
USES_TERMINAL
|
||||
)
|
||||
|
||||
@@ -7,7 +7,7 @@ menuconfig MODULES_MAVLINK
|
||||
menuconfig MAVLINK_DIALECT
|
||||
depends on MODULES_MAVLINK
|
||||
string "Mavlink dialect"
|
||||
default "standard"
|
||||
default "common"
|
||||
help
|
||||
Select the Mavlink dialect to generate and use.
|
||||
|
||||
|
||||
Submodule src/modules/mavlink/mavlink updated: d012c7afd5...0811208443
@@ -53,6 +53,8 @@
|
||||
#define STREAM_HISTORY 4
|
||||
#define BUFFER_SIZE (UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY) // MTU==512 by default
|
||||
|
||||
#define PARTICIPANT_XML_SIZE 512
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp,
|
||||
@@ -182,7 +184,13 @@ void MicroddsClient::run()
|
||||
|
||||
// Session
|
||||
// The key identifier of the Client. All Clients connected to an Agent must have a different key.
|
||||
const uint32_t key = 0xAAAABBBB;
|
||||
const uint32_t key = (uint32_t)_param_xrce_key.get();
|
||||
|
||||
if (key == 0) {
|
||||
PX4_ERR("session key must be different from zero");
|
||||
return;
|
||||
}
|
||||
|
||||
uxrSession session;
|
||||
uxr_init_session(&session, _comm, key);
|
||||
|
||||
@@ -222,34 +230,46 @@ void MicroddsClient::run()
|
||||
// uint16_t participant_req = uxr_buffer_create_participant_bin(&session, reliable_out, participant_id, domain_id,
|
||||
// participant_name, UXR_REPLACE);
|
||||
|
||||
// TODO: configurable participant name with client namespace?
|
||||
const char *participant_xml = _localhost_only ?
|
||||
"<dds>"
|
||||
"<profiles>"
|
||||
"<transport_descriptors>"
|
||||
"<transport_descriptor>"
|
||||
"<transport_id>udp_localhost</transport_id>"
|
||||
"<type>UDPv4</type>"
|
||||
"<interfaceWhiteList><address>127.0.0.1</address></interfaceWhiteList>"
|
||||
"</transport_descriptor>"
|
||||
"</transport_descriptors>"
|
||||
"</profiles>"
|
||||
"<participant>"
|
||||
"<rtps>"
|
||||
"<name>px4_micro_xrce_dds</name>"
|
||||
"<useBuiltinTransports>false</useBuiltinTransports>"
|
||||
"<userTransports><transport_id>udp_localhost</transport_id></userTransports>"
|
||||
"</rtps>"
|
||||
"</participant>"
|
||||
"</dds>"
|
||||
:
|
||||
"<dds>"
|
||||
"<participant>"
|
||||
"<rtps>"
|
||||
"<name>px4_micro_xrce_dds</name>"
|
||||
"</rtps>"
|
||||
"</participant>"
|
||||
"</dds>" ;
|
||||
char participant_xml[PARTICIPANT_XML_SIZE];
|
||||
int ret = snprintf(participant_xml, PARTICIPANT_XML_SIZE, "%s<name>%s/px4_micro_xrce_dds</name>%s",
|
||||
_localhost_only ?
|
||||
"<dds>"
|
||||
"<profiles>"
|
||||
"<transport_descriptors>"
|
||||
"<transport_descriptor>"
|
||||
"<transport_id>udp_localhost</transport_id>"
|
||||
"<type>UDPv4</type>"
|
||||
"<interfaceWhiteList><address>127.0.0.1</address></interfaceWhiteList>"
|
||||
"</transport_descriptor>"
|
||||
"</transport_descriptors>"
|
||||
"</profiles>"
|
||||
"<participant>"
|
||||
"<rtps>"
|
||||
:
|
||||
"<dds>"
|
||||
"<participant>"
|
||||
"<rtps>",
|
||||
_client_namespace != nullptr ?
|
||||
_client_namespace
|
||||
:
|
||||
"",
|
||||
_localhost_only ?
|
||||
"<useBuiltinTransports>false</useBuiltinTransports>"
|
||||
"<userTransports><transport_id>udp_localhost</transport_id></userTransports>"
|
||||
"</rtps>"
|
||||
"</participant>"
|
||||
"</dds>"
|
||||
:
|
||||
"</rtps>"
|
||||
"</participant>"
|
||||
"</dds>"
|
||||
);
|
||||
|
||||
if (ret < 0 || ret >= TOPIC_NAME_SIZE) {
|
||||
PX4_ERR("create entities failed: namespace too long");
|
||||
return;
|
||||
}
|
||||
|
||||
uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, domain_id,
|
||||
participant_xml, UXR_REPLACE);
|
||||
|
||||
|
||||
@@ -92,7 +92,8 @@ private:
|
||||
Timesync _timesync{};
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id
|
||||
(ParamInt<px4::params::XRCE_DDS_DOM_ID>) _param_xrce_dds_dom_id,
|
||||
(ParamInt<px4::params::XRCE_DDS_KEY>) _param_xrce_key
|
||||
)
|
||||
};
|
||||
|
||||
|
||||
@@ -44,6 +44,18 @@ parameters:
|
||||
reboot_required: true
|
||||
default: 0
|
||||
|
||||
XRCE_DDS_KEY:
|
||||
description:
|
||||
short: XRCE DDS key
|
||||
long: |
|
||||
XRCE DDS key, must be different from zero.
|
||||
In a single agent - multi client configuration, each client
|
||||
must have a unique session key.
|
||||
category: System
|
||||
type: int32
|
||||
reboot_required: true
|
||||
default: 1
|
||||
|
||||
XRCE_DDS_UDP_PRT:
|
||||
description:
|
||||
short: Micro DDS UDP Port
|
||||
|
||||
@@ -31,21 +31,28 @@
|
||||
#
|
||||
############################################################################
|
||||
|
||||
# Find the Ignition_Transport library
|
||||
find_package(ignition-transport
|
||||
# Find the gz_Transport library
|
||||
find_package(gz-transport
|
||||
#REQUIRED COMPONENTS core
|
||||
NAMES
|
||||
ignition-transport8
|
||||
ignition-transport10
|
||||
ignition-transport11
|
||||
gz-transport12
|
||||
#QUIET
|
||||
)
|
||||
|
||||
if(ignition-transport_FOUND)
|
||||
if(gz-transport_FOUND)
|
||||
|
||||
add_compile_options(-frtti -fexceptions)
|
||||
|
||||
set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
|
||||
set(GZ_TRANSPORT_VER ${gz-transport_VERSION_MAJOR})
|
||||
|
||||
if (GZ_TRANSPORT_VER GREATER_EQUAL 12)
|
||||
set(GZ_TRANSPORT_LIB gz-transport${GZ_TRANSPORT_VER}::core)
|
||||
else()
|
||||
set(GZ_TRANSPORT_LIB ignition-transport${GZ_TRANSPORT_VER}::core)
|
||||
endif()
|
||||
|
||||
px4_add_module(
|
||||
MODULE modules__simulation__gz_bridge
|
||||
@@ -58,7 +65,7 @@ if(ignition-transport_FOUND)
|
||||
DEPENDS
|
||||
mixer_module
|
||||
px4_work_queue
|
||||
ignition-transport${IGN_TRANSPORT_VER}::core
|
||||
${GZ_TRANSPORT_LIB}
|
||||
MODULE_CONFIG
|
||||
module.yaml
|
||||
)
|
||||
|
||||
@@ -4,3 +4,6 @@ export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
|
||||
export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
|
||||
|
||||
export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
|
||||
|
||||
# IGN -> GZ as of Garden
|
||||
export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
|
||||
|
||||
@@ -52,13 +52,6 @@ using namespace matrix;
|
||||
Standard::Standard(VtolAttitudeControl *attc) :
|
||||
VtolType(attc)
|
||||
{
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_schedule.transition_start = 0;
|
||||
|
||||
_mc_roll_weight = 1.0f;
|
||||
_mc_pitch_weight = 1.0f;
|
||||
_mc_yaw_weight = 1.0f;
|
||||
_mc_throttle_weight = 1.0f;
|
||||
}
|
||||
|
||||
void
|
||||
@@ -78,11 +71,10 @@ void Standard::update_vtol_state()
|
||||
*/
|
||||
|
||||
float mc_weight = _mc_roll_weight;
|
||||
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
if (_vtol_vehicle_status->vtol_transition_failsafe) {
|
||||
// Failsafe event, engage mc motors immediately
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
_pusher_throttle = 0.0f;
|
||||
_reverse_output = 0.0f;
|
||||
|
||||
@@ -94,26 +86,26 @@ void Standard::update_vtol_state()
|
||||
} else if (!_attc->is_fixed_wing_requested()) {
|
||||
|
||||
// the transition to fw mode switch is off
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
|
||||
if (_vtol_mode == vtol_mode::MC_MODE) {
|
||||
// in mc mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
mc_weight = 1.0f;
|
||||
_reverse_output = 0.0f;
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
|
||||
} else if (_vtol_mode == vtol_mode::FW_MODE) {
|
||||
// Regular backtransition
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
_vtol_mode = vtol_mode::TRANSITION_TO_MC;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
_reverse_output = _param_vt_b_rev_out.get();
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
|
||||
// failsafe back to mc mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
mc_weight = 1.0f;
|
||||
_pusher_throttle = 0.0f;
|
||||
_reverse_output = 0.0f;
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
// speed exit condition: use ground if valid, otherwise airspeed
|
||||
bool exit_backtransition_speed_condition = false;
|
||||
|
||||
@@ -126,33 +118,33 @@ void Standard::update_vtol_state()
|
||||
exit_backtransition_speed_condition = _airspeed_validated->calibrated_airspeed_m_s < _param_mpc_xy_cruise.get();
|
||||
}
|
||||
|
||||
const bool exit_backtransition_time_condition = time_since_trans_start > _param_vt_b_trans_dur.get();
|
||||
const bool exit_backtransition_time_condition = _time_since_trans_start > _param_vt_b_trans_dur.get();
|
||||
|
||||
if (can_transition_on_ground() || exit_backtransition_speed_condition || exit_backtransition_time_condition) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
// the transition to fw mode switch is on
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE || _vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
if (_vtol_mode == vtol_mode::MC_MODE || _vtol_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
// start transition to fw mode
|
||||
/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
|
||||
* unsafe flying state. */
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_FW;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
_vtol_mode = vtol_mode::TRANSITION_TO_FW;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
|
||||
} else if (_vtol_mode == vtol_mode::FW_MODE) {
|
||||
// in fw mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
_vtol_mode = vtol_mode::FW_MODE;
|
||||
mc_weight = 0.0f;
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
|
||||
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
|
||||
|
||||
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
|
||||
&& !_param_fw_arsp_mode.get();
|
||||
const bool minimum_trans_time_elapsed = time_since_trans_start > getMinimumFrontTransitionTime();
|
||||
const bool minimum_trans_time_elapsed = _time_since_trans_start > getMinimumFrontTransitionTime();
|
||||
|
||||
bool transition_to_fw = false;
|
||||
|
||||
@@ -168,7 +160,7 @@ void Standard::update_vtol_state()
|
||||
transition_to_fw |= can_transition_on_ground();
|
||||
|
||||
if (transition_to_fw) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
_vtol_mode = vtol_mode::FW_MODE;
|
||||
|
||||
// don't set pusher throttle here as it's being ramped up elsewhere
|
||||
_trans_finished_ts = hrt_absolute_time();
|
||||
@@ -182,21 +174,21 @@ void Standard::update_vtol_state()
|
||||
_mc_throttle_weight = mc_weight;
|
||||
|
||||
// map specific control phases to simple control modes
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
_vtol_mode = mode::ROTARY_WING;
|
||||
_common_vtol_mode = mode::ROTARY_WING;
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
_vtol_mode = mode::FIXED_WING;
|
||||
_common_vtol_mode = mode::FIXED_WING;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_TO_FW:
|
||||
_vtol_mode = mode::TRANSITION_TO_FW;
|
||||
_common_vtol_mode = mode::TRANSITION_TO_FW;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_TO_MC:
|
||||
_vtol_mode = mode::TRANSITION_TO_MC;
|
||||
_common_vtol_mode = mode::TRANSITION_TO_MC;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -205,7 +197,6 @@ void Standard::update_transition_state()
|
||||
{
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
float mc_weight = 1.0f;
|
||||
const float time_since_trans_start = (float)(now - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
VtolType::update_transition_state();
|
||||
|
||||
@@ -230,7 +221,7 @@ void Standard::update_transition_state()
|
||||
_v_att_sp->thrust_body[2] = -_fw_virtual_att_sp->thrust_body[0];
|
||||
}
|
||||
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
|
||||
if (_vtol_mode == vtol_mode::TRANSITION_TO_FW) {
|
||||
if (_param_vt_psher_slew.get() <= FLT_EPSILON) {
|
||||
// just set the final target throttle value
|
||||
_pusher_throttle = _param_vt_f_trans_thr.get();
|
||||
@@ -248,14 +239,14 @@ void Standard::update_transition_state()
|
||||
PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) &&
|
||||
_airspeed_validated->calibrated_airspeed_m_s > 0.0f &&
|
||||
_airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_blend.get() &&
|
||||
time_since_trans_start > getMinimumFrontTransitionTime()) {
|
||||
_time_since_trans_start > getMinimumFrontTransitionTime()) {
|
||||
|
||||
mc_weight = 1.0f - fabsf(_airspeed_validated->calibrated_airspeed_m_s - _param_vt_arsp_blend.get()) /
|
||||
_airspeed_trans_blend_margin;
|
||||
// time based blending when no airspeed sensor is set
|
||||
|
||||
} else if (_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) {
|
||||
mc_weight = 1.0f - time_since_trans_start / getMinimumFrontTransitionTime();
|
||||
mc_weight = 1.0f - _time_since_trans_start / getMinimumFrontTransitionTime();
|
||||
mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f);
|
||||
|
||||
}
|
||||
@@ -266,19 +257,11 @@ void Standard::update_transition_state()
|
||||
const Quatf q_sp(Eulerf(_v_att_sp->roll_body, _v_att_sp->pitch_body, _v_att_sp->yaw_body));
|
||||
q_sp.copyTo(_v_att_sp->q_d);
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
}
|
||||
|
||||
// set spoiler and flaps to 0
|
||||
_flaps_setpoint_with_slewrate.update(0.f, _dt);
|
||||
_spoiler_setpoint_with_slewrate.update(0.f, _dt);
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_TO_MC) {
|
||||
|
||||
if (_v_control_mode->flag_control_climb_rate_enabled) {
|
||||
// control backtransition deceleration using pitch.
|
||||
@@ -290,15 +273,15 @@ void Standard::update_transition_state()
|
||||
|
||||
_pusher_throttle = 0.0f;
|
||||
|
||||
if (time_since_trans_start >= _param_vt_b_rev_del.get()) {
|
||||
if (_time_since_trans_start >= _param_vt_b_rev_del.get()) {
|
||||
// Handle throttle reversal for active breaking
|
||||
_pusher_throttle = math::constrain((time_since_trans_start - _param_vt_b_rev_del.get())
|
||||
_pusher_throttle = math::constrain((_time_since_trans_start - _param_vt_b_rev_del.get())
|
||||
* _param_vt_psher_slew.get(), 0.0f, _param_vt_b_trans_thr.get());
|
||||
}
|
||||
|
||||
// continually increase mc attitude control as we transition back to mc mode
|
||||
if (_param_vt_b_trans_ramp.get() > FLT_EPSILON) {
|
||||
mc_weight = time_since_trans_start / _param_vt_b_trans_ramp.get();
|
||||
mc_weight = _time_since_trans_start / _param_vt_b_trans_ramp.get();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -334,7 +317,7 @@ void Standard::fill_actuator_outputs()
|
||||
auto &mc_out = _actuators_out_0->control;
|
||||
auto &fw_out = _actuators_out_1->control;
|
||||
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
|
||||
// MC out = MC in
|
||||
|
||||
@@ -72,10 +72,7 @@ private:
|
||||
FW_MODE
|
||||
};
|
||||
|
||||
struct {
|
||||
vtol_mode flight_mode; // indicates in which mode the vehicle is in
|
||||
hrt_abstime transition_start; // at what time did we start a transition (front- or backtransition)
|
||||
} _vtol_schedule;
|
||||
vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
|
||||
float _pusher_throttle{0.0f};
|
||||
float _reverse_output{0.0f};
|
||||
|
||||
@@ -52,8 +52,6 @@ using namespace matrix;
|
||||
Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
|
||||
VtolType(attc)
|
||||
{
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_schedule.transition_start = 0;
|
||||
}
|
||||
|
||||
void
|
||||
@@ -75,7 +73,7 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
if (_vtol_vehicle_status->vtol_transition_failsafe) {
|
||||
// Failsafe event, switch to MC mode immediately
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
|
||||
//reset failsafe when FW is no longer requested
|
||||
if (!_attc->is_fixed_wing_requested()) {
|
||||
@@ -84,26 +82,25 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
} else if (!_attc->is_fixed_wing_requested()) {
|
||||
|
||||
switch (_vtol_schedule.flight_mode) { // user switchig to MC mode
|
||||
switch (_vtol_mode) { // user switchig to MC mode
|
||||
case vtol_mode::MC_MODE:
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_BACK;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
_vtol_mode = vtol_mode::TRANSITION_BACK;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1:
|
||||
// failsafe into multicopter mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_BACK:
|
||||
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
// check if we have reached pitch angle to switch to MC mode
|
||||
if (pitch >= PITCH_TRANSITION_BACK || time_since_trans_start > _param_vt_b_trans_dur.get()) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
if (pitch >= PITCH_TRANSITION_BACK || _time_since_trans_start > _param_vt_b_trans_dur.get()) {
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
}
|
||||
|
||||
break;
|
||||
@@ -111,11 +108,11 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
} else { // user switchig to FW mode
|
||||
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
// initialise a front transition
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P1;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
_vtol_mode = vtol_mode::TRANSITION_FRONT_P1;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
@@ -123,9 +120,6 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1: {
|
||||
|
||||
const float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
|
||||
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
|
||||
&& !_param_fw_arsp_mode.get() ;
|
||||
|
||||
@@ -143,15 +137,7 @@ void Tailsitter::update_vtol_state()
|
||||
transition_to_fw |= can_transition_on_ground();
|
||||
|
||||
if (transition_to_fw) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
}
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
_vtol_mode = vtol_mode::FW_MODE;
|
||||
}
|
||||
|
||||
break;
|
||||
@@ -159,29 +145,29 @@ void Tailsitter::update_vtol_state()
|
||||
|
||||
case vtol_mode::TRANSITION_BACK:
|
||||
// failsafe into fixed wing mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
_vtol_mode = vtol_mode::FW_MODE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// map tailsitter specific control phases to simple control modes
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
_vtol_mode = mode::ROTARY_WING;
|
||||
_common_vtol_mode = mode::ROTARY_WING;
|
||||
_flag_was_in_trans_mode = false;
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
_vtol_mode = mode::FIXED_WING;
|
||||
_common_vtol_mode = mode::FIXED_WING;
|
||||
_flag_was_in_trans_mode = false;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1:
|
||||
_vtol_mode = mode::TRANSITION_TO_FW;
|
||||
_common_vtol_mode = mode::TRANSITION_TO_FW;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_BACK:
|
||||
_vtol_mode = mode::TRANSITION_TO_MC;
|
||||
_common_vtol_mode = mode::TRANSITION_TO_MC;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -189,7 +175,6 @@ void Tailsitter::update_vtol_state()
|
||||
void Tailsitter::update_transition_state()
|
||||
{
|
||||
const hrt_abstime now = hrt_absolute_time();
|
||||
const float time_since_trans_start = (float)(now - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
// we need the incoming (virtual) mc attitude setpoints to be recent, otherwise return (means the previous setpoint stays active)
|
||||
if (_mc_virtual_att_sp->timestamp < (now - 1_s)) {
|
||||
@@ -199,7 +184,7 @@ void Tailsitter::update_transition_state()
|
||||
if (!_flag_was_in_trans_mode) {
|
||||
_flag_was_in_trans_mode = true;
|
||||
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
|
||||
if (_vtol_mode == vtol_mode::TRANSITION_BACK) {
|
||||
// calculate rotation axis for transition.
|
||||
_q_trans_start = Quatf(_v_att->q);
|
||||
Vector3f z = -_q_trans_start.dcm_z();
|
||||
@@ -223,7 +208,7 @@ void Tailsitter::update_transition_state()
|
||||
// multirotor frame
|
||||
_q_trans_start = _q_trans_start * Quatf(Eulerf(0, -M_PI_2_F, 0));
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P1) {
|
||||
// initial attitude setpoint for the transition should be with wings level
|
||||
_q_trans_start = Eulerf(0.0f, _mc_virtual_att_sp->pitch_body, _mc_virtual_att_sp->yaw_body);
|
||||
Vector3f x = Dcmf(Quatf(_v_att->q)) * Vector3f(1, 0, 0);
|
||||
@@ -243,32 +228,24 @@ void Tailsitter::update_transition_state()
|
||||
cos_tilt = cos_tilt < -1.0f ? -1.0f : cos_tilt;
|
||||
const float tilt = acosf(cos_tilt);
|
||||
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
|
||||
if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P1) {
|
||||
|
||||
// calculate pitching rate - and constrain to at least 0.1s transition time
|
||||
const float trans_pitch_rate = M_PI_2_F / math::max(_param_vt_f_trans_dur.get(), 0.1f);
|
||||
|
||||
if (tilt < M_PI_2_F - math::radians(_param_fw_psp_off.get())) {
|
||||
_q_trans_sp = Quatf(AxisAnglef(_trans_rot_axis,
|
||||
time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
_time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
}
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
}
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_BACK) {
|
||||
|
||||
// calculate pitching rate - and constrain to at least 0.1s transition time
|
||||
const float trans_pitch_rate = M_PI_2_F / math::max(_param_vt_b_trans_dur.get(), 0.1f);
|
||||
|
||||
if (tilt > 0.01f) {
|
||||
_q_trans_sp = Quatf(AxisAnglef(_trans_rot_axis,
|
||||
time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
_time_since_trans_start * trans_pitch_rate)) * _q_trans_start;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -336,7 +313,7 @@ void Tailsitter::fill_actuator_outputs()
|
||||
mc_out[actuator_controls_s::INDEX_PITCH] = mc_in[actuator_controls_s::INDEX_PITCH];
|
||||
mc_out[actuator_controls_s::INDEX_YAW] = mc_in[actuator_controls_s::INDEX_YAW];
|
||||
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
|
||||
if (_vtol_mode == vtol_mode::FW_MODE) {
|
||||
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
|
||||
|
||||
// FW thrust is allocated on mc_thrust_sp[0] for tailsitter with dynamic control allocation
|
||||
@@ -371,14 +348,14 @@ void Tailsitter::fill_actuator_outputs()
|
||||
}
|
||||
|
||||
// Landing Gear
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
|
||||
if (_vtol_mode == vtol_mode::MC_MODE) {
|
||||
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
|
||||
|
||||
} else {
|
||||
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_UP;
|
||||
}
|
||||
|
||||
if (_param_vt_elev_mc_lock.get() && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
|
||||
if (_param_vt_elev_mc_lock.get() && _vtol_mode == vtol_mode::MC_MODE) {
|
||||
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
|
||||
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
|
||||
|
||||
|
||||
@@ -69,10 +69,7 @@ private:
|
||||
FW_MODE /**< vtol is in fixed wing mode */
|
||||
};
|
||||
|
||||
struct {
|
||||
vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
hrt_abstime transition_start; /**< absoulte time at which front transition started */
|
||||
} _vtol_schedule;
|
||||
vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
|
||||
bool _flag_was_in_trans_mode = false; // true if mode has just switched to transition
|
||||
|
||||
|
||||
@@ -55,12 +55,6 @@ using namespace time_literals;
|
||||
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
|
||||
VtolType(attc)
|
||||
{
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_schedule.transition_start = 0;
|
||||
|
||||
_mc_roll_weight = 1.0f;
|
||||
_mc_pitch_weight = 1.0f;
|
||||
_mc_yaw_weight = 1.0f;
|
||||
}
|
||||
|
||||
void
|
||||
@@ -79,7 +73,7 @@ void Tiltrotor::update_vtol_state()
|
||||
|
||||
if (_vtol_vehicle_status->vtol_transition_failsafe) {
|
||||
// Failsafe event, switch to MC mode immediately
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
|
||||
//reset failsafe when FW is no longer requested
|
||||
if (!_attc->is_fixed_wing_requested()) {
|
||||
@@ -89,23 +83,23 @@ void Tiltrotor::update_vtol_state()
|
||||
} else if (!_attc->is_fixed_wing_requested()) {
|
||||
|
||||
// plane is in multicopter mode
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_BACK;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
_vtol_mode = vtol_mode::TRANSITION_BACK;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1:
|
||||
// failsafe into multicopter mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P2:
|
||||
// failsafe into multicopter mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_BACK:
|
||||
@@ -123,11 +117,10 @@ void Tiltrotor::update_vtol_state()
|
||||
exit_backtransition_speed_condition = _airspeed_validated->calibrated_airspeed_m_s < _param_mpc_xy_cruise.get() ;
|
||||
}
|
||||
|
||||
const float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
const bool exit_backtransition_time_condition = time_since_trans_start > _param_vt_b_trans_dur.get() ;
|
||||
const bool exit_backtransition_time_condition = _time_since_trans_start > _param_vt_b_trans_dur.get() ;
|
||||
|
||||
if (exit_backtransition_tilt_condition && (exit_backtransition_speed_condition || exit_backtransition_time_condition)) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
|
||||
_vtol_mode = vtol_mode::MC_MODE;
|
||||
}
|
||||
|
||||
break;
|
||||
@@ -135,11 +128,11 @@ void Tiltrotor::update_vtol_state()
|
||||
|
||||
} else {
|
||||
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
// initialise a front transition
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P1;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
_vtol_mode = vtol_mode::TRANSITION_FRONT_P1;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
@@ -147,36 +140,26 @@ void Tiltrotor::update_vtol_state()
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1: {
|
||||
|
||||
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
const bool airspeed_triggers_transition = PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)
|
||||
&& !_param_fw_arsp_mode.get() ;
|
||||
|
||||
bool transition_to_p2 = false;
|
||||
|
||||
if (time_since_trans_start > getMinimumFrontTransitionTime()) {
|
||||
if (_time_since_trans_start > getMinimumFrontTransitionTime()) {
|
||||
if (airspeed_triggers_transition) {
|
||||
transition_to_p2 = _airspeed_validated->calibrated_airspeed_m_s >= _param_vt_arsp_trans.get() ;
|
||||
|
||||
} else {
|
||||
transition_to_p2 = _tilt_control >= _param_vt_tilt_trans.get() &&
|
||||
time_since_trans_start > getOpenLoopFrontTransitionTime();
|
||||
_time_since_trans_start > getOpenLoopFrontTransitionTime();
|
||||
}
|
||||
}
|
||||
|
||||
transition_to_p2 |= can_transition_on_ground();
|
||||
|
||||
if (transition_to_p2) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P2;
|
||||
_vtol_schedule.transition_start = hrt_absolute_time();
|
||||
}
|
||||
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON) {
|
||||
if (time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::TransitionTimeout);
|
||||
}
|
||||
_vtol_mode = vtol_mode::TRANSITION_FRONT_P2;
|
||||
_transition_start_timestamp = hrt_absolute_time();
|
||||
}
|
||||
|
||||
break;
|
||||
@@ -186,7 +169,7 @@ void Tiltrotor::update_vtol_state()
|
||||
|
||||
// if the rotors have been tilted completely we switch to fw mode
|
||||
if (_tilt_control >= _param_vt_tilt_fw.get()) {
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
_vtol_mode = vtol_mode::FW_MODE;
|
||||
_tilt_control = _param_vt_tilt_fw.get();
|
||||
}
|
||||
|
||||
@@ -194,28 +177,28 @@ void Tiltrotor::update_vtol_state()
|
||||
|
||||
case vtol_mode::TRANSITION_BACK:
|
||||
// failsafe into fixed wing mode
|
||||
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
|
||||
_vtol_mode = vtol_mode::FW_MODE;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// map tiltrotor specific control phases to simple control modes
|
||||
switch (_vtol_schedule.flight_mode) {
|
||||
switch (_vtol_mode) {
|
||||
case vtol_mode::MC_MODE:
|
||||
_vtol_mode = mode::ROTARY_WING;
|
||||
_common_vtol_mode = mode::ROTARY_WING;
|
||||
break;
|
||||
|
||||
case vtol_mode::FW_MODE:
|
||||
_vtol_mode = mode::FIXED_WING;
|
||||
_common_vtol_mode = mode::FIXED_WING;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_FRONT_P1:
|
||||
case vtol_mode::TRANSITION_FRONT_P2:
|
||||
_vtol_mode = mode::TRANSITION_TO_FW;
|
||||
_common_vtol_mode = mode::TRANSITION_TO_FW;
|
||||
break;
|
||||
|
||||
case vtol_mode::TRANSITION_BACK:
|
||||
_vtol_mode = mode::TRANSITION_TO_MC;
|
||||
_common_vtol_mode = mode::TRANSITION_TO_MC;
|
||||
break;
|
||||
}
|
||||
}
|
||||
@@ -304,16 +287,15 @@ void Tiltrotor::update_transition_state()
|
||||
_thrust_transition = _fw_virtual_att_sp->thrust_body[0];
|
||||
}
|
||||
|
||||
const float time_since_trans_start = (float)(now - _vtol_schedule.transition_start) * 1e-6f;
|
||||
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
|
||||
if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P1) {
|
||||
// for the first part of the transition all rotors are enabled
|
||||
|
||||
// tilt rotors forward up to certain angle
|
||||
if (_tilt_control <= _param_vt_tilt_trans.get()) {
|
||||
const float ramped_up_tilt = _param_vt_tilt_mc.get() +
|
||||
fabsf(_param_vt_tilt_trans.get() - _param_vt_tilt_mc.get()) *
|
||||
time_since_trans_start / _param_vt_f_trans_dur.get() ;
|
||||
_time_since_trans_start / _param_vt_f_trans_dur.get() ;
|
||||
|
||||
// only allow increasing tilt (tilt in hover can already be non-zero)
|
||||
_tilt_control = math::max(_tilt_control, ramped_up_tilt);
|
||||
@@ -333,8 +315,8 @@ void Tiltrotor::update_transition_state()
|
||||
|
||||
// without airspeed do timed weight changes
|
||||
if ((_param_fw_arsp_mode.get() || !PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s)) &&
|
||||
time_since_trans_start > getMinimumFrontTransitionTime()) {
|
||||
_mc_roll_weight = 1.0f - (time_since_trans_start - getMinimumFrontTransitionTime()) /
|
||||
_time_since_trans_start > getMinimumFrontTransitionTime()) {
|
||||
_mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) /
|
||||
(getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime());
|
||||
_mc_yaw_weight = _mc_roll_weight;
|
||||
}
|
||||
@@ -346,10 +328,10 @@ void Tiltrotor::update_transition_state()
|
||||
_flaps_setpoint_with_slewrate.update(0.f, _dt);
|
||||
_spoiler_setpoint_with_slewrate.update(0.f, _dt);
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P2) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_FRONT_P2) {
|
||||
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
|
||||
_tilt_control = math::constrain(_param_vt_tilt_trans.get() +
|
||||
fabsf(_param_vt_tilt_fw.get() - _param_vt_tilt_trans.get()) * time_since_trans_start /
|
||||
fabsf(_param_vt_tilt_fw.get() - _param_vt_tilt_trans.get()) * _time_since_trans_start /
|
||||
_param_vt_trans_p2_dur.get(), _param_vt_tilt_trans.get(), _param_vt_tilt_fw.get());
|
||||
|
||||
_mc_roll_weight = 0.0f;
|
||||
@@ -366,12 +348,12 @@ void Tiltrotor::update_transition_state()
|
||||
_flaps_setpoint_with_slewrate.update(0.f, _dt);
|
||||
_spoiler_setpoint_with_slewrate.update(0.f, _dt);
|
||||
|
||||
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
|
||||
} else if (_vtol_mode == vtol_mode::TRANSITION_BACK) {
|
||||
|
||||
// tilt rotors back once motors are idle
|
||||
if (time_since_trans_start > BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
|
||||
if (_time_since_trans_start > BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
|
||||
|
||||
float progress = (time_since_trans_start - BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) / BACKTRANS_MOTORS_UPTILT_DUR_S;
|
||||
float progress = (_time_since_trans_start - BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) / BACKTRANS_MOTORS_UPTILT_DUR_S;
|
||||
progress = math::constrain(progress, 0.0f, 1.0f);
|
||||
_tilt_control = moveLinear(_param_vt_tilt_fw.get(), _param_vt_tilt_mc.get(), progress);
|
||||
}
|
||||
@@ -383,14 +365,14 @@ void Tiltrotor::update_transition_state()
|
||||
_v_att_sp->pitch_body = update_and_get_backtransition_pitch_sp();
|
||||
}
|
||||
|
||||
if (time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
|
||||
if (_time_since_trans_start < BACKTRANS_THROTTLE_DOWNRAMP_DUR_S) {
|
||||
// blend throttle from FW value to 0
|
||||
_mc_throttle_weight = 1.0f;
|
||||
const float target_throttle = 0.0f;
|
||||
const float progress = time_since_trans_start / BACKTRANS_THROTTLE_DOWNRAMP_DUR_S;
|
||||
const float progress = _time_since_trans_start / BACKTRANS_THROTTLE_DOWNRAMP_DUR_S;
|
||||
blendThrottleDuringBacktransition(progress, target_throttle);
|
||||
|
||||
} else if (time_since_trans_start < timeUntilMotorsAreUp()) {
|
||||
} else if (_time_since_trans_start < timeUntilMotorsAreUp()) {
|
||||
// while we quickly rotate back the motors keep throttle at idle
|
||||
|
||||
// turn on all MC motors
|
||||
@@ -402,7 +384,7 @@ void Tiltrotor::update_transition_state()
|
||||
_mc_roll_weight = 1.0f;
|
||||
_mc_pitch_weight = 1.0f;
|
||||
// slowly ramp up throttle to avoid step inputs
|
||||
float progress = (time_since_trans_start - timeUntilMotorsAreUp()) / BACKTRANS_THROTTLE_UPRAMP_DUR_S;
|
||||
float progress = (_time_since_trans_start - timeUntilMotorsAreUp()) / BACKTRANS_THROTTLE_UPRAMP_DUR_S;
|
||||
progress = math::constrain(progress, 0.0f, 1.0f);
|
||||
_mc_throttle_weight = moveLinear(0.0f, 1.0f, progress);
|
||||
}
|
||||
@@ -469,7 +451,7 @@ void Tiltrotor::fill_actuator_outputs()
|
||||
_torque_setpoint_0->xyz[1] = mc_in[actuator_controls_s::INDEX_PITCH] * _mc_pitch_weight;
|
||||
_torque_setpoint_0->xyz[2] = mc_in[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
|
||||
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
|
||||
if (_vtol_mode == vtol_mode::FW_MODE) {
|
||||
|
||||
// for the legacy mixing system pubish FW throttle on the MC output
|
||||
mc_out[actuator_controls_s::INDEX_THROTTLE] = fw_in[actuator_controls_s::INDEX_THROTTLE];
|
||||
@@ -494,7 +476,7 @@ void Tiltrotor::fill_actuator_outputs()
|
||||
}
|
||||
|
||||
// Landing gear
|
||||
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
|
||||
if (_vtol_mode == vtol_mode::MC_MODE) {
|
||||
mc_out[actuator_controls_s::INDEX_LANDING_GEAR] = landing_gear_s::GEAR_DOWN;
|
||||
|
||||
} else {
|
||||
@@ -504,7 +486,7 @@ void Tiltrotor::fill_actuator_outputs()
|
||||
// Fixed wing output
|
||||
fw_out[actuator_controls_s::INDEX_COLLECTIVE_TILT] = _tilt_control;
|
||||
|
||||
if (_param_vt_elev_mc_lock.get() && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
|
||||
if (_param_vt_elev_mc_lock.get() && _vtol_mode == vtol_mode::MC_MODE) {
|
||||
fw_out[actuator_controls_s::INDEX_ROLL] = 0;
|
||||
fw_out[actuator_controls_s::INDEX_PITCH] = 0;
|
||||
fw_out[actuator_controls_s::INDEX_YAW] = 0;
|
||||
|
||||
@@ -75,11 +75,7 @@ private:
|
||||
* they need to idle otherwise they need too much time to spin up for mc mode.
|
||||
*/
|
||||
|
||||
|
||||
struct {
|
||||
vtol_mode flight_mode; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
hrt_abstime transition_start; /**< absoulte time at which front transition started */
|
||||
} _vtol_schedule;
|
||||
vtol_mode _vtol_mode{vtol_mode::MC_MODE}; /**< vtol flight mode, defined by enum vtol_mode */
|
||||
|
||||
float _tilt_control{0.0f}; /**< actuator value for the tilt servo */
|
||||
|
||||
|
||||
@@ -225,6 +225,10 @@ VtolAttitudeControl::quadchute(QuadchuteReason reason)
|
||||
events::send(events::ID("vtol_att_ctrl_quadchute_max_roll"), events::Log::Critical,
|
||||
"Quadchute triggered, due to maximum roll angle exceeded");
|
||||
break;
|
||||
|
||||
case QuadchuteReason::None:
|
||||
// should never get in here
|
||||
return;
|
||||
}
|
||||
|
||||
_vtol_vehicle_status.vtol_transition_failsafe = true;
|
||||
|
||||
@@ -98,16 +98,6 @@ class VtolAttitudeControl : public ModuleBase<VtolAttitudeControl>, public Modul
|
||||
{
|
||||
public:
|
||||
|
||||
enum class QuadchuteReason {
|
||||
TransitionTimeout = 0,
|
||||
ExternalCommand,
|
||||
MinimumAltBreached,
|
||||
LossOfAlt,
|
||||
LargeAltError,
|
||||
MaximumPitchExceeded,
|
||||
MaximumRollExceeded,
|
||||
};
|
||||
|
||||
VtolAttitudeControl();
|
||||
~VtolAttitudeControl() override;
|
||||
|
||||
|
||||
@@ -54,7 +54,7 @@ using namespace matrix;
|
||||
VtolType::VtolType(VtolAttitudeControl *att_controller) :
|
||||
ModuleParams(nullptr),
|
||||
_attc(att_controller),
|
||||
_vtol_mode(mode::ROTARY_WING)
|
||||
_common_vtol_mode(mode::ROTARY_WING)
|
||||
{
|
||||
_v_att = _attc->get_att();
|
||||
_v_att_sp = _attc->get_att_sp();
|
||||
@@ -171,6 +171,8 @@ void VtolType::update_transition_state()
|
||||
_last_loop_ts = t_now;
|
||||
_throttle_blend_start_ts = t_now;
|
||||
|
||||
_time_since_trans_start = (float)(t_now - _transition_start_timestamp) * 1e-6f;
|
||||
|
||||
check_quadchute_condition();
|
||||
}
|
||||
|
||||
@@ -210,76 +212,167 @@ bool VtolType::can_transition_on_ground()
|
||||
return !_v_control_mode->flag_armed || _land_detected->landed;
|
||||
}
|
||||
|
||||
void VtolType::check_quadchute_condition()
|
||||
bool VtolType::isQuadchuteEnabled()
|
||||
{
|
||||
return _v_control_mode->flag_armed && !_land_detected->landed;
|
||||
}
|
||||
|
||||
bool VtolType::isMinAltBreached()
|
||||
{
|
||||
// fixed-wing minimum altitude
|
||||
if (_param_vt_fw_min_alt.get() > FLT_EPSILON) {
|
||||
|
||||
if (-(_local_pos->z) < _param_vt_fw_min_alt.get()) {
|
||||
return true;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool VtolType::largeAltitudeLoss()
|
||||
{
|
||||
// adaptive quadchute
|
||||
if (_param_vt_fw_alt_err.get() > FLT_EPSILON && _v_control_mode->flag_control_altitude_enabled && _tecs_running) {
|
||||
|
||||
// are we dropping while requesting significant ascend?
|
||||
if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _param_vt_fw_alt_err.get()) &&
|
||||
(_ra_hrate < -1.0f) &&
|
||||
(_ra_hrate_sp > 1.0f)) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool VtolType::largeAltitudeError()
|
||||
{
|
||||
// adaptive quadchute
|
||||
if (_param_vt_fw_alt_err.get() > FLT_EPSILON && _v_control_mode->flag_control_altitude_enabled && !_tecs_running) {
|
||||
|
||||
|
||||
const bool height_error = _local_pos->z_valid && ((-_local_pos_sp->z - -_local_pos->z) > _param_vt_fw_alt_err.get());
|
||||
const bool height_rate_error = _local_pos->v_z_valid && (_local_pos->vz > 1.0f) && (_local_pos->z_deriv > 1.0f);
|
||||
|
||||
if (height_error && height_rate_error) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool VtolType::isPitchExceeded()
|
||||
{
|
||||
// fixed-wing maximum pitch angle
|
||||
if (_param_vt_fw_qc_p.get() > 0) {
|
||||
Eulerf euler = Quatf(_v_att->q);
|
||||
|
||||
if (fabsf(euler.theta()) > fabsf(math::radians(static_cast<float>(_param_vt_fw_qc_p.get())))) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool VtolType::isRollExceeded()
|
||||
{
|
||||
// fixed-wing maximum roll angle
|
||||
if (_param_vt_fw_qc_r.get() > 0) {
|
||||
Eulerf euler = Quatf(_v_att->q);
|
||||
|
||||
if (fabsf(euler.phi()) > fabsf(math::radians(static_cast<float>(_param_vt_fw_qc_r.get())))) {
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
bool VtolType::isFrontTransitionTimeout()
|
||||
{
|
||||
// check front transition timeout
|
||||
if (_param_vt_trans_timeout.get() > FLT_EPSILON && _common_vtol_mode == mode::TRANSITION_TO_FW) {
|
||||
|
||||
if (_time_since_trans_start > _param_vt_trans_timeout.get()) {
|
||||
// transition timeout occured, abort transition
|
||||
return true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
QuadchuteReason VtolType::getQuadchuteReason()
|
||||
{
|
||||
if (isMinAltBreached()) {
|
||||
return QuadchuteReason::MinimumAltBreached;
|
||||
}
|
||||
|
||||
if (largeAltitudeLoss()) {
|
||||
return QuadchuteReason::LossOfAlt;
|
||||
}
|
||||
|
||||
if (largeAltitudeError()) {
|
||||
return QuadchuteReason::LargeAltError;
|
||||
}
|
||||
|
||||
if (isPitchExceeded()) {
|
||||
return QuadchuteReason::MaximumPitchExceeded;
|
||||
}
|
||||
|
||||
if (isRollExceeded()) {
|
||||
return QuadchuteReason::MaximumRollExceeded;
|
||||
}
|
||||
|
||||
if (isFrontTransitionTimeout()) {
|
||||
return QuadchuteReason::TransitionTimeout;
|
||||
}
|
||||
|
||||
return QuadchuteReason::None;
|
||||
}
|
||||
|
||||
void VtolType::filterTecsHeightRates()
|
||||
{
|
||||
if (_tecs_running) {
|
||||
// 1 second rolling average
|
||||
_ra_hrate = (49 * _ra_hrate + _tecs_status->height_rate) / 50;
|
||||
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->height_rate_setpoint) / 50;
|
||||
|
||||
} else {
|
||||
// reset the filtered height rate and heigh rate setpoint if TECS is not running
|
||||
_ra_hrate = 0.0f;
|
||||
_ra_hrate_sp = 0.0f;
|
||||
}
|
||||
}
|
||||
|
||||
void VtolType::handleSpecialExternalCommandQuadchute()
|
||||
{
|
||||
if (_attc->get_transition_command() == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC && _attc->get_immediate_transition()
|
||||
&& !_quadchute_command_treated) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::ExternalCommand);
|
||||
_attc->quadchute(QuadchuteReason::ExternalCommand);
|
||||
_quadchute_command_treated = true;
|
||||
_attc->reset_immediate_transition();
|
||||
|
||||
} else {
|
||||
_quadchute_command_treated = false;
|
||||
}
|
||||
}
|
||||
|
||||
if (!_tecs_running) {
|
||||
// reset the filtered height rate and heigh rate setpoint if TECS is not running
|
||||
_ra_hrate = 0.0f;
|
||||
_ra_hrate_sp = 0.0f;
|
||||
}
|
||||
void VtolType::check_quadchute_condition()
|
||||
{
|
||||
|
||||
if (_v_control_mode->flag_armed && !_land_detected->landed) {
|
||||
Eulerf euler = Quatf(_v_att->q);
|
||||
filterTecsHeightRates();
|
||||
handleSpecialExternalCommandQuadchute();
|
||||
|
||||
// fixed-wing minimum altitude
|
||||
if (_param_vt_fw_min_alt.get() > FLT_EPSILON) {
|
||||
if (isQuadchuteEnabled()) {
|
||||
QuadchuteReason reason = getQuadchuteReason();
|
||||
|
||||
if (-(_local_pos->z) < _param_vt_fw_min_alt.get()) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::MinimumAltBreached);
|
||||
}
|
||||
}
|
||||
|
||||
// adaptive quadchute
|
||||
if (_param_vt_fw_alt_err.get() > FLT_EPSILON && _v_control_mode->flag_control_altitude_enabled) {
|
||||
|
||||
// We use tecs for tracking in FW and local_pos_sp during transitions
|
||||
if (_tecs_running) {
|
||||
// 1 second rolling average
|
||||
_ra_hrate = (49 * _ra_hrate + _tecs_status->height_rate) / 50;
|
||||
_ra_hrate_sp = (49 * _ra_hrate_sp + _tecs_status->height_rate_setpoint) / 50;
|
||||
|
||||
// are we dropping while requesting significant ascend?
|
||||
if (((_tecs_status->altitude_sp - _tecs_status->altitude_filtered) > _param_vt_fw_alt_err.get()) &&
|
||||
(_ra_hrate < -1.0f) &&
|
||||
(_ra_hrate_sp > 1.0f)) {
|
||||
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::LossOfAlt);
|
||||
}
|
||||
|
||||
} else {
|
||||
const bool height_error = _local_pos->z_valid && ((-_local_pos_sp->z - -_local_pos->z) > _param_vt_fw_alt_err.get());
|
||||
const bool height_rate_error = _local_pos->v_z_valid && (_local_pos->vz > 1.0f) && (_local_pos->z_deriv > 1.0f);
|
||||
|
||||
if (height_error && height_rate_error) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::LargeAltError);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// fixed-wing maximum pitch angle
|
||||
if (_param_vt_fw_qc_p.get() > 0) {
|
||||
|
||||
if (fabsf(euler.theta()) > fabsf(math::radians(static_cast<float>(_param_vt_fw_qc_p.get())))) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::MaximumPitchExceeded);
|
||||
}
|
||||
}
|
||||
|
||||
// fixed-wing maximum roll angle
|
||||
if (_param_vt_fw_qc_r.get() > 0) {
|
||||
|
||||
if (fabsf(euler.phi()) > fabsf(math::radians(static_cast<float>(_param_vt_fw_qc_r.get())))) {
|
||||
_attc->quadchute(VtolAttitudeControl::QuadchuteReason::MaximumRollExceeded);
|
||||
}
|
||||
if (reason != QuadchuteReason::None) {
|
||||
_attc->quadchute(reason);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -84,6 +84,17 @@ enum class VtFwDifthrEnBits : int32_t {
|
||||
PITCH_BIT = (1 << 2),
|
||||
};
|
||||
|
||||
enum class QuadchuteReason {
|
||||
None = 0,
|
||||
TransitionTimeout,
|
||||
ExternalCommand,
|
||||
MinimumAltBreached,
|
||||
LossOfAlt,
|
||||
LargeAltError,
|
||||
MaximumPitchExceeded,
|
||||
MaximumRollExceeded,
|
||||
};
|
||||
|
||||
class VtolAttitudeControl;
|
||||
|
||||
class VtolType : public ModuleParams
|
||||
@@ -132,6 +143,73 @@ public:
|
||||
*/
|
||||
virtual void waiting_on_tecs() {}
|
||||
|
||||
/**
|
||||
* @brief Indicates if quadchute is enabled.
|
||||
*
|
||||
* @return true if enabled
|
||||
*/
|
||||
bool isQuadchuteEnabled();
|
||||
|
||||
/**
|
||||
* @brief Evaluates quadchute conditions and returns a reson for quadchute.
|
||||
*
|
||||
* @return QuadchuteReason, can be None
|
||||
*/
|
||||
QuadchuteReason getQuadchuteReason();
|
||||
|
||||
/**
|
||||
* @brief Indicates if the vehicle is lower than VT_FW_MIN_ALT above the local origin.
|
||||
*
|
||||
* @return true if below threshold
|
||||
*/
|
||||
bool isMinAltBreached();
|
||||
|
||||
/**
|
||||
* @brief Indicates if the vehicle has an altitude error larger than VT_FW_ALT_ERR and is losing altitude quickly.
|
||||
* This only applies when TECS is running.
|
||||
*
|
||||
* @return true if error larger than threshold
|
||||
*/
|
||||
bool largeAltitudeLoss();
|
||||
|
||||
/**
|
||||
* @brief Indicates if the vehicle has an altitude error larger than VT_FW_ALT_ERR. This only applied when TECS is not running.
|
||||
*
|
||||
* @return true if error larger than threshold
|
||||
*/
|
||||
bool largeAltitudeError();
|
||||
|
||||
/**
|
||||
* @brief Indicates if the absolute value of the vehicle pitch angle exceeds the threshold defined by VT_FW_QC_P
|
||||
*
|
||||
* @return true if exeeded
|
||||
*/
|
||||
bool isPitchExceeded();
|
||||
|
||||
/**
|
||||
* @brief Indicates if the absolute value of the vehicle roll angle exceeds the threshold defined by VT_FW_QC_R
|
||||
*
|
||||
* @return true if exeeded
|
||||
*/
|
||||
bool isRollExceeded();
|
||||
|
||||
/**
|
||||
* @brief Indicates if the front transition duration has exceeded the timeout definded by VT_TRANS_TIMEOUT
|
||||
*
|
||||
* @return true if exeeded
|
||||
*/
|
||||
bool isFrontTransitionTimeout();
|
||||
|
||||
/**
|
||||
* @brief Applied a first order low pass filte to TECS height rate and heigh rate setpoint.
|
||||
*/
|
||||
void filterTecsHeightRates();
|
||||
|
||||
/**
|
||||
* @brief Special handling of QuadchuteReason::ReasonExternal
|
||||
*/
|
||||
void handleSpecialExternalCommandQuadchute();
|
||||
|
||||
/**
|
||||
* Checks for fixed-wing failsafe condition and issues abort request if needed.
|
||||
*/
|
||||
@@ -149,7 +227,7 @@ public:
|
||||
|
||||
virtual void blendThrottleAfterFrontTransition(float scale) {};
|
||||
|
||||
mode get_mode() {return _vtol_mode;}
|
||||
mode get_mode() {return _common_vtol_mode;}
|
||||
|
||||
/**
|
||||
* @return Minimum front transition time scaled for air density (if available) [s]
|
||||
@@ -172,7 +250,7 @@ public:
|
||||
|
||||
protected:
|
||||
VtolAttitudeControl *_attc;
|
||||
mode _vtol_mode;
|
||||
mode _common_vtol_mode;
|
||||
|
||||
static constexpr const int num_outputs_max = 8;
|
||||
|
||||
@@ -210,6 +288,8 @@ protected:
|
||||
float _ra_hrate_sp = 0.0f; // rolling average on height rate setpoint for quadchute condition
|
||||
|
||||
hrt_abstime _trans_finished_ts = 0;
|
||||
hrt_abstime _transition_start_timestamp{0};
|
||||
float _time_since_trans_start{0};
|
||||
|
||||
bool _tecs_running = false;
|
||||
hrt_abstime _tecs_running_ts = 0;
|
||||
|
||||
Reference in New Issue
Block a user