diff options
-rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 82 |
1 files changed, 24 insertions, 58 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index deccab482..064b8a6fa 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -88,7 +88,6 @@ #include <launchdetection/LaunchDetector.h> #include <ecl/l1/ecl_l1_pos_controller.h> #include <external_lgpl/tecs/tecs.h> -#include <drivers/drv_range_finder.h> #include "landingslope.h" #include "mtecs/mTecs.h" @@ -143,7 +142,6 @@ private: int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ int _sensor_combined_sub; /**< for body frame accelerations */ - int _range_finder_sub; /**< range finder subscription */ orb_advert_t _attitude_sp_pub; /**< attitude setpoint */ orb_advert_t _tecs_status_pub; /**< TECS status publication */ @@ -158,7 +156,6 @@ private: struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct position_setpoint_triplet_s _pos_sp_triplet; /**< triplet of mission items */ struct sensor_combined_s _sensor_combined; /**< for body frame accelerations */ - struct range_finder_report _range_finder; /**< range finder report */ perf_counter_t _loop_perf; /**< loop performance counter */ @@ -239,7 +236,6 @@ private: float land_flare_alt_relative; float land_thrust_lim_alt_relative; float land_heading_hold_horizontal_distance; - float range_finder_rel_alt; } _parameters; /**< local copies of interesting parameters */ @@ -284,7 +280,6 @@ private: param_t land_flare_alt_relative; param_t land_thrust_lim_alt_relative; param_t land_heading_hold_horizontal_distance; - param_t range_finder_rel_alt; } _parameter_handles; /**< handles for interesting parameters */ @@ -311,12 +306,6 @@ private: bool vehicle_airspeed_poll(); /** - * Check for range finder updates. - */ - bool range_finder_poll(); - - - /** * Check for position updates. */ void vehicle_attitude_poll(); @@ -337,9 +326,9 @@ private: void navigation_capabilities_publish(); /** - * Get the relative alt either from the difference between estimate and waypoint or from the laser range finder + * Return the terrain estimate during landing: uses the wp altitude value or the terrain estimate if available */ - float get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt); + float get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos); /** * Control position. @@ -411,7 +400,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _params_sub(-1), _manual_control_sub(-1), _sensor_combined_sub(-1), - _range_finder_sub(-1), /* publications */ _attitude_sp_pub(-1), @@ -428,7 +416,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _global_pos(), _pos_sp_triplet(), _sensor_combined(), - _range_finder(), /* performance counters */ _loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")), @@ -477,7 +464,6 @@ FixedwingPositionControl::FixedwingPositionControl() : _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT"); _parameter_handles.land_thrust_lim_alt_relative = param_find("FW_LND_TLALT"); _parameter_handles.land_heading_hold_horizontal_distance = param_find("FW_LND_HHDIST"); - _parameter_handles.range_finder_rel_alt = param_find("FW_LND_RFRALT"); _parameter_handles.time_const = param_find("FW_T_TIME_CONST"); _parameter_handles.time_const_throt = param_find("FW_T_THRO_CONST"); @@ -577,8 +563,6 @@ FixedwingPositionControl::parameters_update() param_get(_parameter_handles.land_heading_hold_horizontal_distance, &(_parameters.land_heading_hold_horizontal_distance)); - param_get(_parameter_handles.range_finder_rel_alt, &(_parameters.range_finder_rel_alt)); - _l1_control.set_l1_damping(_parameters.l1_damping); _l1_control.set_l1_period(_parameters.l1_period); _l1_control.set_l1_roll_limit(math::radians(_parameters.roll_limit)); @@ -669,20 +653,6 @@ FixedwingPositionControl::vehicle_airspeed_poll() return airspeed_updated; } -bool -FixedwingPositionControl::range_finder_poll() -{ - /* check if there is a range finder measurement */ - bool range_finder_updated; - orb_check(_range_finder_sub, &range_finder_updated); - - if (range_finder_updated) { - orb_copy(ORB_ID(sensor_range_finder), _range_finder_sub, &_range_finder); - } - - return range_finder_updated; -} - void FixedwingPositionControl::vehicle_attitude_poll() { @@ -820,21 +790,14 @@ void FixedwingPositionControl::navigation_capabilities_publish() } } -float FixedwingPositionControl::get_relative_landingalt(float land_setpoint_alt, float current_alt, const struct range_finder_report &range_finder, float range_finder_use_relative_alt) +float FixedwingPositionControl::get_terrain_altitude_landing(float land_setpoint_alt, const struct vehicle_global_position_s &global_pos) { - float rel_alt_estimated = current_alt - land_setpoint_alt; - - /* only use range finder if: - * parameter (range_finder_use_relative_alt) > 0 - * the measurement is valid - * the estimated relative altitude (from global altitude estimate and landing waypoint) <= range_finder_use_relative_alt - */ - if (range_finder_use_relative_alt < 0 || !range_finder.valid || range_finder.distance > range_finder_use_relative_alt ) { - return rel_alt_estimated; + if (global_pos.terrain_alt_valid && + isfinite(global_pos.terrain_alt)) { + return global_pos.terrain_alt; + } else { + return land_setpoint_alt; } - - return range_finder.distance; - } bool @@ -991,15 +954,19 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; + /* Get an estimate of the terrain altitude if available, otherwise terrain_alt will be + * equal to _pos_sp_triplet.current.alt */ + float terrain_alt = get_terrain_altitude_landing(_pos_sp_triplet.current.alt, _global_pos); + /* Calculate distance (to landing waypoint) and altitude of last ordinary waypoint L */ - float L_altitude_rel = _pos_sp_triplet.previous.valid ? _pos_sp_triplet.previous.alt - _pos_sp_triplet.current.alt : 0.0f; + float L_altitude_rel = _pos_sp_triplet.previous.valid ? + _pos_sp_triplet.previous.alt - terrain_alt : 0.0f; float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1)); float landing_slope_alt_rel_desired = landingslope.getLandingSlopeRelativeAltitudeSave(wp_distance, bearing_lastwp_currwp, bearing_airplane_currwp); - float relative_alt = get_relative_landingalt(_pos_sp_triplet.current.alt, _global_pos.alt, _range_finder, _parameters.range_finder_rel_alt); - if ( (relative_alt < landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + if ( (_global_pos.alt < terrain_alt + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ @@ -1009,7 +976,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (relative_alt < landingslope.motor_lim_relative_alt() || land_motor_lim) { + if (_global_pos.alt < terrain_alt + landingslope.motor_lim_relative_alt() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; @@ -1027,12 +994,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi land_stayonground = true; } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + flare_curve_alt_rel, + tecs_update_pitch_throttle(terrain_alt + flare_curve_alt_rel, calculate_target_airspeed(airspeed_land), eas2tas, flare_pitch_angle_rad, math::radians(15.0f), 0.0f, throttle_max, throttle_land, false, flare_pitch_angle_rad, - _pos_sp_triplet.current.alt + relative_alt, ground_speed, + _global_pos.alt, ground_speed, land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND); if (!land_noreturn_vertical) { @@ -1053,8 +1020,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi * if current position is below the slope continue at previous wp altitude * until the intersection with slope * */ - float altitude_desired_rel = relative_alt; - if (relative_alt > landing_slope_alt_rel_desired || land_onslope) { + float altitude_desired_rel; + if (_global_pos.alt > terrain_alt + landing_slope_alt_rel_desired || land_onslope) { /* stay on slope */ altitude_desired_rel = landing_slope_alt_rel_desired; if (!land_onslope) { @@ -1063,10 +1030,11 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi } } else { /* continue horizontally */ - altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : relative_alt; + altitude_desired_rel = _pos_sp_triplet.previous.valid ? L_altitude_rel : + _global_pos.alt - terrain_alt; } - tecs_update_pitch_throttle(_pos_sp_triplet.current.alt + altitude_desired_rel, + tecs_update_pitch_throttle(terrain_alt + altitude_desired_rel, calculate_target_airspeed(airspeed_approach), eas2tas, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max), @@ -1075,7 +1043,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _parameters.throttle_cruise, false, math::radians(_parameters.pitch_limit_min), - _pos_sp_triplet.current.alt + relative_alt, + _global_pos.alt, ground_speed); } @@ -1221,7 +1189,6 @@ FixedwingPositionControl::task_main() _airspeed_sub = orb_subscribe(ORB_ID(airspeed)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); _manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint)); - _range_finder_sub = orb_subscribe(ORB_ID(sensor_range_finder)); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_control_mode_sub, 200); @@ -1295,7 +1262,6 @@ FixedwingPositionControl::task_main() vehicle_setpoint_poll(); vehicle_sensor_combined_poll(); vehicle_airspeed_poll(); - range_finder_poll(); // vehicle_baro_poll(); math::Vector<3> ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d); |