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272 lines
11 KiB
C++
272 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ObstacleAvoidance.cpp
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*/
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#include "ObstacleAvoidance.hpp"
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#include "bezier/BezierN.hpp"
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using namespace matrix;
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using namespace time_literals;
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/** Timeout in us for trajectory data to get considered invalid */
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static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
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/** If Flighttask fails, keep 0.5 seconds the current setpoint before going into failsafe land */
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static constexpr uint64_t TIME_BEFORE_FAILSAFE = 500_ms;
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static constexpr uint64_t Z_PROGRESS_TIMEOUT_US = 2_s;
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ObstacleAvoidance::ObstacleAvoidance(ModuleParams *parent) :
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ModuleParams(parent)
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{
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_desired_waypoint = empty_trajectory_waypoint;
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_failsafe_position.setNaN();
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_avoidance_point_not_valid_hysteresis.set_hysteresis_time_from(false, TIME_BEFORE_FAILSAFE);
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_no_progress_z_hysteresis.set_hysteresis_time_from(false, Z_PROGRESS_TIMEOUT_US);
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}
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void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
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float &yaw_speed_sp)
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{
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_sub_vehicle_status.update();
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_sub_vehicle_trajectory_waypoint.update();
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_sub_vehicle_trajectory_bezier.update();
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const auto &wp_msg = _sub_vehicle_trajectory_waypoint.get();
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const auto &bezier_msg = _sub_vehicle_trajectory_bezier.get();
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const bool wp_msg_timeout = hrt_elapsed_time((hrt_abstime *)&wp_msg.timestamp) > TRAJECTORY_STREAM_TIMEOUT_US;
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const bool bezier_msg_timeout = hrt_elapsed_time((hrt_abstime *)&bezier_msg.timestamp) > hrt_abstime(
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bezier_msg.control_points[bezier_msg.bezier_order - 1].delta * 1e6f);
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const bool avoidance_data_timeout = wp_msg_timeout && bezier_msg_timeout;
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const bool avoidance_point_valid = wp_msg.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid;
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const bool avoidance_bezier_valid = bezier_msg.bezier_order > 0;
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_avoidance_point_not_valid_hysteresis.set_state_and_update(!avoidance_point_valid
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&& !avoidance_bezier_valid, hrt_absolute_time());
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const bool avoidance_invalid = (avoidance_data_timeout || _avoidance_point_not_valid_hysteresis.get_state());
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if ((_sub_vehicle_status.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) && avoidance_invalid) {
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// if in nav_state LOITER and avoidance isn't healthy, don't inject setpoints from avoidance system
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return;
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}
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if (avoidance_invalid) {
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if (_avoidance_activated) {
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// Invalid point received: deactivate
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PX4_WARN("Obstacle Avoidance system failed, loitering");
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_publishVehicleCmdDoLoiter();
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_avoidance_activated = false;
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}
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if (!_failsafe_position.isAllFinite()) {
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// save vehicle position when entering failsafe
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_failsafe_position = _position;
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}
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pos_sp = _failsafe_position;
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vel_sp.setNaN();
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yaw_sp = NAN;
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yaw_speed_sp = NAN;
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// Do nothing further - wait until activation
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return;
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} else if (!_avoidance_activated) {
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// First setpoint has been received: activate
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PX4_INFO("Obstacle Avoidance system activated");
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_failsafe_position.setNaN();
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_avoidance_activated = true;
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}
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if (avoidance_point_valid && !wp_msg_timeout) {
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const auto &point0 = wp_msg.waypoints[vehicle_trajectory_waypoint_s::POINT_0];
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pos_sp = Vector3f(point0.position);
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vel_sp = Vector3f(point0.velocity);
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if (!_ext_yaw_active) {
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// inject yaw setpoints only if weathervane isn't active
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yaw_sp = point0.yaw;
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yaw_speed_sp = point0.yaw_speed;
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}
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} else if (avoidance_bezier_valid && !bezier_msg_timeout) {
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float yaw = NAN, yaw_speed = NAN;
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_generateBezierSetpoints(pos_sp, vel_sp, yaw, yaw_speed);
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if (!_ext_yaw_active) {
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// inject yaw setpoints only if weathervane isn't active
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yaw_sp = yaw;
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yaw_speed_sp = yaw_speed;
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}
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}
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}
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void ObstacleAvoidance::_generateBezierSetpoints(matrix::Vector3f &position, matrix::Vector3f &velocity,
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float &yaw, float &yaw_velocity)
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{
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const auto &msg = _sub_vehicle_trajectory_bezier.get();
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int bezier_order = msg.bezier_order;
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matrix::Vector3f bezier_points[bezier_order];
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float bezier_yaws[bezier_order];
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for (int i = 0; i < bezier_order; i++) {
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bezier_points[i] = Vector3f(msg.control_points[i].position);
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bezier_yaws[i] = msg.control_points[i].yaw;
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}
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const float duration_s = msg.control_points[bezier_order - 1].delta;
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const hrt_abstime now = hrt_absolute_time();
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const hrt_abstime start = msg.timestamp;
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const hrt_abstime end = start + hrt_abstime(duration_s * 1e6f);
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float T = NAN;
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if (bezier::calculateT(start, end, now, T) &&
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bezier::calculateBezierPosVel(bezier_points, bezier_order, T, position, velocity) &&
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bezier::calculateBezierYaw(bezier_yaws, bezier_order, T, yaw, yaw_velocity)
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) {
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// translate bezier velocities T [0;1] into real velocities m/s
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yaw_velocity /= duration_s;
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velocity /= duration_s;
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} else {
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PX4_WARN("Obstacle Avoidance system failed, bad trajectory");
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}
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}
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void ObstacleAvoidance::updateAvoidanceDesiredWaypoints(const Vector3f &curr_wp, const float curr_yaw,
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const float curr_yawspeed, const Vector3f &next_wp, const float next_yaw, const float next_yawspeed,
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const bool ext_yaw_active, const int wp_type)
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{
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_desired_waypoint.timestamp = hrt_absolute_time();
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_desired_waypoint.type = vehicle_trajectory_waypoint_s::MAV_TRAJECTORY_REPRESENTATION_WAYPOINTS;
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_curr_wp = curr_wp;
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_ext_yaw_active = ext_yaw_active;
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curr_wp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].position);
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Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].velocity);
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Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].acceleration);
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw = curr_yaw;
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].yaw_speed = curr_yawspeed;
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].point_valid = true;
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_1].type = wp_type;
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next_wp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].position);
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Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].velocity);
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Vector3f(NAN, NAN, NAN).copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].acceleration);
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw = next_yaw;
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].yaw_speed = next_yawspeed;
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid = true;
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}
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void ObstacleAvoidance::updateAvoidanceDesiredSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp, const int type)
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{
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pos_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position);
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vel_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity);
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].type = type;
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_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid = true;
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_pub_traj_wp_avoidance_desired.publish(_desired_waypoint);
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_desired_waypoint = empty_trajectory_waypoint;
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}
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void ObstacleAvoidance::checkAvoidanceProgress(const Vector3f &pos, const Vector3f &prev_wp,
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float target_acceptance_radius, const Vector2f &closest_pt)
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{
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_position = pos;
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position_controller_status_s pos_control_status = {};
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pos_control_status.timestamp = hrt_absolute_time();
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// vector from previous triplet to current target
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Vector2f prev_to_target = Vector2f(_curr_wp - prev_wp);
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// vector from previous triplet to the vehicle projected position on the line previous-target triplet
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Vector2f prev_to_closest_pt = closest_pt - Vector2f(prev_wp);
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// fraction of the previous-tagerget line that has been flown
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const float prev_curr_travelled = prev_to_closest_pt.length() / prev_to_target.length();
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Vector2f pos_to_target = Vector2f(_curr_wp - _position);
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if (prev_curr_travelled > 1.0f) {
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// if the vehicle projected position on the line previous-target is past the target waypoint,
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// increase the target acceptance radius such that navigator will update the triplets
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pos_control_status.acceptance_radius = pos_to_target.length() + 0.5f;
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}
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const float pos_to_target_z = fabsf(_curr_wp(2) - _position(2));
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bool no_progress_z = (pos_to_target_z > _prev_pos_to_target_z);
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_no_progress_z_hysteresis.set_state_and_update(no_progress_z, hrt_absolute_time());
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if (pos_to_target.length() < target_acceptance_radius && pos_to_target_z > _param_nav_mc_alt_rad.get()
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&& _no_progress_z_hysteresis.get_state()) {
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// vehicle above or below the target waypoint
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pos_control_status.altitude_acceptance = pos_to_target_z + 0.5f;
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}
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_prev_pos_to_target_z = pos_to_target_z;
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// do not check for waypoints yaw acceptance in navigator
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pos_control_status.yaw_acceptance = NAN;
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_pub_pos_control_status.publish(pos_control_status);
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}
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void ObstacleAvoidance::_publishVehicleCmdDoLoiter()
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{
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vehicle_command_s command{};
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command.timestamp = hrt_absolute_time();
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command.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
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command.param1 = (float)1; // base mode
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command.param3 = (float)0; // sub mode
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command.target_system = 1;
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command.target_component = 1;
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command.source_system = 1;
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command.source_component = 1;
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command.confirmation = false;
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command.from_external = false;
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command.param2 = (float)PX4_CUSTOM_MAIN_MODE_AUTO;
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command.param3 = (float)PX4_CUSTOM_SUB_MODE_AUTO_LOITER;
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// publish the vehicle command
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_pub_vehicle_command.publish(command);
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}
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