/**************************************************************************** * * Copyright (c) 2018 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /** * @file FlightTaskAuto.cpp */ #include "FlightTaskAuto.hpp" #include #include using namespace matrix; static constexpr float SIGMA_NORM = 0.001f; FlightTaskAuto::FlightTaskAuto() : _obstacle_avoidance(this) { } bool FlightTaskAuto::activate(const vehicle_local_position_setpoint_s &last_setpoint) { bool ret = FlightTask::activate(last_setpoint); _position_setpoint = _position; _velocity_setpoint = _velocity; _yaw_setpoint = _yaw_sp_prev = _yaw; _yawspeed_setpoint = 0.0f; _setDefaultConstraints(); return ret; } bool FlightTaskAuto::updateInitialize() { bool ret = FlightTask::updateInitialize(); _sub_home_position.update(); _sub_vehicle_status.update(); _sub_triplet_setpoint.update(); // require valid reference and valid target ret = ret && _evaluateGlobalReference() && _evaluateTriplets(); // require valid position ret = ret && PX4_ISFINITE(_position(0)) && PX4_ISFINITE(_position(1)) && PX4_ISFINITE(_position(2)) && PX4_ISFINITE(_velocity(0)) && PX4_ISFINITE(_velocity(1)) && PX4_ISFINITE(_velocity(2)); return ret; } bool FlightTaskAuto::updateFinalize() { // All the auto FlightTasks have to comply with defined maximum yaw rate // If the FlightTask generates a yaw or a yawrate setpoint that exceeds this value // it will see its setpoint constrained here _limitYawRate(); _constraints.want_takeoff = _checkTakeoff(); return true; } void FlightTaskAuto::_limitYawRate() { const float yawrate_max = math::radians(_param_mpc_yawrauto_max.get()); _yaw_sp_aligned = true; if (PX4_ISFINITE(_yaw_setpoint) && PX4_ISFINITE(_yaw_sp_prev)) { // Limit the rate of change of the yaw setpoint const float dyaw_desired = matrix::wrap_pi(_yaw_setpoint - _yaw_sp_prev); const float dyaw_max = yawrate_max * _deltatime; const float dyaw = math::constrain(dyaw_desired, -dyaw_max, dyaw_max); const float yaw_setpoint_sat = matrix::wrap_pi(_yaw_sp_prev + dyaw); // The yaw setpoint is aligned when it is within tolerance _yaw_sp_aligned = fabsf(matrix::wrap_pi(_yaw_setpoint - yaw_setpoint_sat)) < math::radians(_param_mis_yaw_err.get()); _yaw_setpoint = yaw_setpoint_sat; _yaw_sp_prev = _yaw_setpoint; if (!PX4_ISFINITE(_yawspeed_setpoint) && (_deltatime > FLT_EPSILON)) { // Create a feedforward _yawspeed_setpoint = dyaw / _deltatime; } } if (PX4_ISFINITE(_yawspeed_setpoint)) { // The yaw setpoint is aligned when its rate is not saturated _yaw_sp_aligned = _yaw_sp_aligned && (fabsf(_yawspeed_setpoint) < yawrate_max); _yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -yawrate_max, yawrate_max); } } bool FlightTaskAuto::_evaluateTriplets() { // TODO: fix the issues mentioned below // We add here some conditions that are only required because: // 1. navigator continuously sends triplet during mission due to yaw setpoint. This // should be removed in the navigator and only updates if the current setpoint actually has changed. // // 2. navigator should be responsible to send always three valid setpoints. If there is only one setpoint, // then previous will be set to current vehicle position and next will be set equal to setpoint. // // 3. navigator originally only supports gps guided maneuvers. However, it now also supports some flow-specific features // such as land and takeoff. The navigator should use for auto takeoff/land with flow the position in xy at the moment the // takeoff/land was initiated. Until then we do this kind of logic here. // Check if triplet is valid. There must be at least a valid altitude. if (!_sub_triplet_setpoint.get().current.valid || !PX4_ISFINITE(_sub_triplet_setpoint.get().current.alt)) { // Best we can do is to just set all waypoints to current state _prev_prev_wp = _triplet_prev_wp = _triplet_target = _triplet_next_wp = _position; _type = WaypointType::loiter; _yaw_setpoint = _yaw; _yawspeed_setpoint = NAN; _target_acceptance_radius = _sub_triplet_setpoint.get().current.acceptance_radius; _updateInternalWaypoints(); return true; } _type = (WaypointType)_sub_triplet_setpoint.get().current.type; // Always update cruise speed since that can change without waypoint changes. _mc_cruise_speed = _sub_triplet_setpoint.get().current.cruising_speed; if (!PX4_ISFINITE(_mc_cruise_speed) || (_mc_cruise_speed < 0.0f)) { // If no speed is planned use the default cruise speed as limit _mc_cruise_speed = _constraints.speed_xy; } // Ensure planned cruise speed is below the maximum such that the smooth trajectory doesn't get capped _mc_cruise_speed = math::min(_mc_cruise_speed, _param_mpc_xy_vel_max.get()); // Temporary target variable where we save the local reprojection of the latest navigator current triplet. Vector3f tmp_target; if (!PX4_ISFINITE(_sub_triplet_setpoint.get().current.lat) || !PX4_ISFINITE(_sub_triplet_setpoint.get().current.lon)) { // No position provided in xy. Lock position if (!PX4_ISFINITE(_lock_position_xy(0))) { tmp_target(0) = _lock_position_xy(0) = _position(0); tmp_target(1) = _lock_position_xy(1) = _position(1); } else { tmp_target(0) = _lock_position_xy(0); tmp_target(1) = _lock_position_xy(1); } } else { // reset locked position if current lon and lat are valid _lock_position_xy.setAll(NAN); // Convert from global to local frame. map_projection_project(&_reference_position, _sub_triplet_setpoint.get().current.lat, _sub_triplet_setpoint.get().current.lon, &tmp_target(0), &tmp_target(1)); } tmp_target(2) = -(_sub_triplet_setpoint.get().current.alt - _reference_altitude); // Check if anything has changed. We do that by comparing the temporary target // to the internal _triplet_target. // TODO This is a hack and it would be much better if the navigator only sends out a waypoints once they have changed. bool triplet_update = true; const bool prev_next_validity_changed = (_prev_was_valid != _sub_triplet_setpoint.get().previous.valid) || (_next_was_valid != _sub_triplet_setpoint.get().next.valid); if (PX4_ISFINITE(_triplet_target(0)) && PX4_ISFINITE(_triplet_target(1)) && PX4_ISFINITE(_triplet_target(2)) && fabsf(_triplet_target(0) - tmp_target(0)) < 0.001f && fabsf(_triplet_target(1) - tmp_target(1)) < 0.001f && fabsf(_triplet_target(2) - tmp_target(2)) < 0.001f && !prev_next_validity_changed) { // Nothing has changed: just keep old waypoints. triplet_update = false; } else { _triplet_target = tmp_target; _target_acceptance_radius = _sub_triplet_setpoint.get().current.acceptance_radius; if (!PX4_ISFINITE(_triplet_target(0)) || !PX4_ISFINITE(_triplet_target(1))) { // Horizontal target is not finite. _triplet_target(0) = _position(0); _triplet_target(1) = _position(1); } if (!PX4_ISFINITE(_triplet_target(2))) { _triplet_target(2) = _position(2); } // If _triplet_target has updated, update also _triplet_prev_wp and _triplet_next_wp. _prev_prev_wp = _triplet_prev_wp; if (_isFinite(_sub_triplet_setpoint.get().previous) && _sub_triplet_setpoint.get().previous.valid) { map_projection_project(&_reference_position, _sub_triplet_setpoint.get().previous.lat, _sub_triplet_setpoint.get().previous.lon, &_triplet_prev_wp(0), &_triplet_prev_wp(1)); _triplet_prev_wp(2) = -(_sub_triplet_setpoint.get().previous.alt - _reference_altitude); } else { _triplet_prev_wp = _position; } _prev_was_valid = _sub_triplet_setpoint.get().previous.valid; if (_type == WaypointType::loiter) { _triplet_next_wp = _triplet_target; } else if (_isFinite(_sub_triplet_setpoint.get().next) && _sub_triplet_setpoint.get().next.valid) { map_projection_project(&_reference_position, _sub_triplet_setpoint.get().next.lat, _sub_triplet_setpoint.get().next.lon, &_triplet_next_wp(0), &_triplet_next_wp(1)); _triplet_next_wp(2) = -(_sub_triplet_setpoint.get().next.alt - _reference_altitude); } else { _triplet_next_wp = _triplet_target; } _next_was_valid = _sub_triplet_setpoint.get().next.valid; } if (_ext_yaw_handler != nullptr) { // activation/deactivation of weather vane is based on parameter WV_EN and setting of navigator (allow_weather_vane) (_param_wv_en.get() && !_sub_triplet_setpoint.get().current.disable_weather_vane) ? _ext_yaw_handler->activate() : _ext_yaw_handler->deactivate(); } // Calculate the current vehicle state and check if it has updated. State previous_state = _current_state; _current_state = _getCurrentState(); if (triplet_update || (_current_state != previous_state) || _current_state == State::offtrack) { _updateInternalWaypoints(); _mission_gear = _sub_triplet_setpoint.get().current.landing_gear; _yaw_lock = false; } if (_param_com_obs_avoid.get() && _sub_vehicle_status.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { _obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint, _triplet_next_wp, _sub_triplet_setpoint.get().next.yaw, _sub_triplet_setpoint.get().next.yawspeed_valid ? _sub_triplet_setpoint.get().next.yawspeed : NAN, _ext_yaw_handler != nullptr && _ext_yaw_handler->is_active(), _sub_triplet_setpoint.get().current.type); _obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt); } // set heading if (_ext_yaw_handler != nullptr && _ext_yaw_handler->is_active()) { _yaw_setpoint = _yaw; // use the yawrate setpoint from WV only if not moving lateral (velocity setpoint below half of _param_mpc_xy_cruise) // otherwise, keep heading constant (as output from WV is not according to wind in this case) bool vehicle_is_moving_lateral = _velocity_setpoint.xy().longerThan(_param_mpc_xy_cruise.get() / 2.0f); if (vehicle_is_moving_lateral) { _yawspeed_setpoint = 0.0f; } else { _yawspeed_setpoint = _ext_yaw_handler->get_weathervane_yawrate(); } } else if (_type == WaypointType::follow_target && _sub_triplet_setpoint.get().current.yawspeed_valid) { _yawspeed_setpoint = _sub_triplet_setpoint.get().current.yawspeed; _yaw_setpoint = NAN; } else { if ((_type != WaypointType::takeoff || _sub_triplet_setpoint.get().current.disable_weather_vane) && _sub_triplet_setpoint.get().current.yaw_valid) { // Use the yaw computed in Navigator except during takeoff because // Navigator is not handling the yaw reset properly. // But: use if from Navigator during takeoff if disable_weather_vane is true, // because we're then aligning to the transition waypoint. // TODO: fix in navigator _yaw_setpoint = _sub_triplet_setpoint.get().current.yaw; } else { _set_heading_from_mode(); } _yawspeed_setpoint = NAN; } return true; } void FlightTaskAuto::_set_heading_from_mode() { Vector2f v; // Vector that points towards desired location switch (_param_mpc_yaw_mode.get()) { case 0: // Heading points towards the current waypoint. case 4: // Same as 0 but yaw first and then go v = Vector2f(_target) - Vector2f(_position); break; case 1: // Heading points towards home. if (_sub_home_position.get().valid_lpos) { v = Vector2f(&_sub_home_position.get().x) - Vector2f(_position); } break; case 2: // Heading point away from home. if (_sub_home_position.get().valid_lpos) { v = Vector2f(_position) - Vector2f(&_sub_home_position.get().x); } break; case 3: // Along trajectory. // The heading depends on the kind of setpoint generation. This needs to be implemented // in the subclasses where the velocity setpoints are generated. v.setAll(NAN); break; } if (PX4_ISFINITE(v.length())) { // We only adjust yaw if vehicle is outside of acceptance radius. Once we enter acceptance // radius, lock yaw to current yaw. // This prevents excessive yawing. if (!_yaw_lock) { if (v.length() < _target_acceptance_radius) { _yaw_setpoint = _yaw; _yaw_lock = true; } else { _compute_heading_from_2D_vector(_yaw_setpoint, v); } } } else { _yaw_lock = false; _yaw_setpoint = NAN; } } bool FlightTaskAuto::_isFinite(const position_setpoint_s &sp) { return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt)); } bool FlightTaskAuto::_evaluateGlobalReference() { // check if reference has changed and update. // Only update if reference timestamp has changed AND no valid reference altitude // is available. // TODO: this needs to be revisited and needs a more clear implementation if (_sub_vehicle_local_position.get().ref_timestamp == _time_stamp_reference && PX4_ISFINITE(_reference_altitude)) { // don't need to update anything return true; } double ref_lat = _sub_vehicle_local_position.get().ref_lat; double ref_lon = _sub_vehicle_local_position.get().ref_lon; _reference_altitude = _sub_vehicle_local_position.get().ref_alt; if (!_sub_vehicle_local_position.get().z_global) { // we have no valid global altitude // set global reference to local reference _reference_altitude = 0.0f; } if (!_sub_vehicle_local_position.get().xy_global) { // we have no valid global alt/lat // set global reference to local reference ref_lat = 0.0; ref_lon = 0.0; } // init projection map_projection_init(&_reference_position, ref_lat, ref_lon); // check if everything is still finite return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon); } void FlightTaskAuto::_setDefaultConstraints() { FlightTask::_setDefaultConstraints(); // only adjust limits if the new limit is lower if (_constraints.speed_xy >= _param_mpc_xy_cruise.get()) { _constraints.speed_xy = _param_mpc_xy_cruise.get(); } } Vector2f FlightTaskAuto::_getTargetVelocityXY() { // guard against any bad velocity values const float vx = _sub_triplet_setpoint.get().current.vx; const float vy = _sub_triplet_setpoint.get().current.vy; bool velocity_valid = PX4_ISFINITE(vx) && PX4_ISFINITE(vy) && _sub_triplet_setpoint.get().current.velocity_valid; if (velocity_valid) { return Vector2f(vx, vy); } else { // just return zero speed return Vector2f{}; } } State FlightTaskAuto::_getCurrentState() { // Calculate the vehicle current state based on the Navigator triplets and the current position. Vector2f u_prev_to_target = Vector2f(_triplet_target - _triplet_prev_wp).unit_or_zero(); Vector2f pos_to_target(_triplet_target - _position); Vector2f prev_to_pos(_position - _triplet_prev_wp); // Calculate the closest point to the vehicle position on the line prev_wp - target _closest_pt = Vector2f(_triplet_prev_wp) + u_prev_to_target * (prev_to_pos * u_prev_to_target); State return_state = State::none; if (u_prev_to_target * pos_to_target < 0.0f) { // Target is behind. return_state = State::target_behind; } else if (u_prev_to_target * prev_to_pos < 0.0f && prev_to_pos.length() > _target_acceptance_radius) { // Current position is more than cruise speed in front of previous setpoint. return_state = State::previous_infront; } else if (Vector2f(Vector2f(_position) - _closest_pt).length() > _target_acceptance_radius) { // Vehicle is more than cruise speed off track. return_state = State::offtrack; } return return_state; } void FlightTaskAuto::_updateInternalWaypoints() { // The internal Waypoints might differ from _triplet_prev_wp, _triplet_target and _triplet_next_wp. // The cases where it differs: // 1. The vehicle already passed the target -> go straight to target // 2. The vehicle is more than cruise speed in front of previous waypoint -> go straight to previous waypoint // 3. The vehicle is more than cruise speed from track -> go straight to closest point on track switch (_current_state) { case State::target_behind: _target = _triplet_target; _prev_wp = _position; _next_wp = _triplet_next_wp; break; case State::previous_infront: _next_wp = _triplet_target; _target = _triplet_prev_wp; _prev_wp = _position; break; case State::offtrack: _next_wp = _triplet_target; _target = matrix::Vector3f(_closest_pt(0), _closest_pt(1), _triplet_target(2)); _prev_wp = _position; break; case State::none: _target = _triplet_target; _prev_wp = _triplet_prev_wp; _next_wp = _triplet_next_wp; break; default: break; } } bool FlightTaskAuto::_compute_heading_from_2D_vector(float &heading, Vector2f v) { if (PX4_ISFINITE(v.length()) && v.length() > SIGMA_NORM) { v.normalize(); // To find yaw: take dot product of x = (1,0) and v // and multiply by the sign given of cross product of x and v. // Dot product: (x(0)*v(0)+(x(1)*v(1)) = v(0) // Cross product: x(0)*v(1) - v(0)*x(1) = v(1) heading = sign(v(1)) * wrap_pi(acosf(v(0))); return true; } // heading unknown and therefore do not change heading return false; }