diff options
Diffstat (limited to 'src/lib/ecl/l1/ecl_l1_pos_controller.cpp')
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 58 |
1 files changed, 32 insertions, 26 deletions
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index 27d76f959..d1c864d78 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -38,6 +38,8 @@ * */ +#include <float.h> + #include "ecl_l1_pos_controller.h" float ECL_L1_Pos_Controller::nav_roll() @@ -70,7 +72,7 @@ float ECL_L1_Pos_Controller::target_bearing() float ECL_L1_Pos_Controller::switch_distance(float wp_radius) { /* following [2], switching on L1 distance */ - return math::max(wp_radius, _L1_distance); + return math::min(wp_radius, _L1_distance); } bool ECL_L1_Pos_Controller::reached_loiter_target(void) @@ -83,8 +85,8 @@ float ECL_L1_Pos_Controller::crosstrack_error(void) return _crosstrack_error; } -void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, const math::Vector2f &vector_B, const math::Vector2f &vector_curr_position, - const math::Vector2f &ground_speed_vector) +void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector<2> &vector_A, const math::Vector<2> &vector_B, const math::Vector<2> &vector_curr_position, + const math::Vector<2> &ground_speed_vector) { /* this follows the logic presented in [1] */ @@ -94,7 +96,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c float ltrack_vel; /* get the direction between the last (visited) and next waypoint */ - _target_bearing = get_bearing_to_next_waypoint(vector_curr_position.getX(), vector_curr_position.getY(), vector_B.getX(), vector_B.getY()); + _target_bearing = get_bearing_to_next_waypoint(vector_curr_position(0), vector_curr_position(1), vector_B(0), vector_B(1)); /* enforce a minimum ground speed of 0.1 m/s to avoid singularities */ float ground_speed = math::max(ground_speed_vector.length(), 0.1f); @@ -103,7 +105,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c _L1_distance = _L1_ratio * ground_speed; /* calculate vector from A to B */ - math::Vector2f vector_AB = get_local_planar_vector(vector_A, vector_B); + math::Vector<2> vector_AB = get_local_planar_vector(vector_A, vector_B); /* * check if waypoints are on top of each other. If yes, @@ -116,7 +118,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c vector_AB.normalize(); /* calculate the vector from waypoint A to the aircraft */ - math::Vector2f vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position); + math::Vector<2> vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position); /* calculate crosstrack error (output only) */ _crosstrack_error = vector_AB % vector_A_to_airplane; @@ -130,7 +132,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c float alongTrackDist = vector_A_to_airplane * vector_AB; /* estimate airplane position WRT to B */ - math::Vector2f vector_B_to_P_unit = get_local_planar_vector(vector_B, vector_curr_position).normalized(); + math::Vector<2> vector_B_to_P_unit = get_local_planar_vector(vector_B, vector_curr_position).normalized(); /* calculate angle of airplane position vector relative to line) */ @@ -143,14 +145,14 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c /* calculate eta to fly to waypoint A */ /* unit vector from waypoint A to current position */ - math::Vector2f vector_A_to_airplane_unit = vector_A_to_airplane.normalized(); + math::Vector<2> vector_A_to_airplane_unit = vector_A_to_airplane.normalized(); /* velocity across / orthogonal to line */ xtrack_vel = ground_speed_vector % (-vector_A_to_airplane_unit); /* velocity along line */ ltrack_vel = ground_speed_vector * (-vector_A_to_airplane_unit); eta = atan2f(xtrack_vel, ltrack_vel); /* bearing from current position to L1 point */ - _nav_bearing = atan2f(-vector_A_to_airplane_unit.getY() , -vector_A_to_airplane_unit.getX()); + _nav_bearing = atan2f(-vector_A_to_airplane_unit(1) , -vector_A_to_airplane_unit(0)); /* * If the AB vector and the vector from B to airplane point in the same @@ -174,7 +176,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c ltrack_vel = ground_speed_vector * (-vector_B_to_P_unit); eta = atan2f(xtrack_vel, ltrack_vel); /* bearing from current position to L1 point */ - _nav_bearing = atan2f(-vector_B_to_P_unit.getY() , -vector_B_to_P_unit.getX()); + _nav_bearing = atan2f(-vector_B_to_P_unit(1) , -vector_B_to_P_unit(0)); } else { @@ -194,7 +196,7 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c float eta1 = asinf(sine_eta1); eta = eta1 + eta2; /* bearing from current position to L1 point */ - _nav_bearing = atan2f(vector_AB.getY(), vector_AB.getX()) + eta1; + _nav_bearing = atan2f(vector_AB(1), vector_AB(0)) + eta1; } @@ -209,8 +211,8 @@ void ECL_L1_Pos_Controller::navigate_waypoints(const math::Vector2f &vector_A, c _bearing_error = eta; } -void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, const math::Vector2f &vector_curr_position, float radius, int8_t loiter_direction, - const math::Vector2f &ground_speed_vector) +void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector<2> &vector_A, const math::Vector<2> &vector_curr_position, float radius, int8_t loiter_direction, + const math::Vector<2> &ground_speed_vector) { /* the complete guidance logic in this section was proposed by [2] */ @@ -220,7 +222,7 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, cons float K_velocity = 2.0f * _L1_damping * omega; /* update bearing to next waypoint */ - _target_bearing = get_bearing_to_next_waypoint(vector_curr_position.getX(), vector_curr_position.getY(), vector_A.getX(), vector_A.getY()); + _target_bearing = get_bearing_to_next_waypoint(vector_curr_position(0), vector_curr_position(1), vector_A(0), vector_A(1)); /* ground speed, enforce minimum of 0.1 m/s to avoid singularities */ float ground_speed = math::max(ground_speed_vector.length() , 0.1f); @@ -229,10 +231,17 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, cons _L1_distance = _L1_ratio * ground_speed; /* calculate the vector from waypoint A to current position */ - math::Vector2f vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position); + math::Vector<2> vector_A_to_airplane = get_local_planar_vector(vector_A, vector_curr_position); - /* store the normalized vector from waypoint A to current position */ - math::Vector2f vector_A_to_airplane_unit = (vector_A_to_airplane).normalized(); + math::Vector<2> vector_A_to_airplane_unit; + + /* prevent NaN when normalizing */ + if (vector_A_to_airplane.length() > FLT_EPSILON) { + /* store the normalized vector from waypoint A to current position */ + vector_A_to_airplane_unit = vector_A_to_airplane.normalized(); + } else { + vector_A_to_airplane_unit = vector_A_to_airplane; + } /* calculate eta angle towards the loiter center */ @@ -280,26 +289,26 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, cons */ // XXX check switch over - if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) | + if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) || (lateral_accel_sp_center > lateral_accel_sp_circle && loiter_direction < 0 && xtrack_err_circle > 0.0f)) { _lateral_accel = lateral_accel_sp_center; _circle_mode = false; /* angle between requested and current velocity vector */ _bearing_error = eta; /* bearing from current position to L1 point */ - _nav_bearing = atan2f(-vector_A_to_airplane_unit.getY() , -vector_A_to_airplane_unit.getX()); + _nav_bearing = atan2f(-vector_A_to_airplane_unit(1) , -vector_A_to_airplane_unit(0)); } else { _lateral_accel = lateral_accel_sp_circle; _circle_mode = true; _bearing_error = 0.0f; /* bearing from current position to L1 point */ - _nav_bearing = atan2f(-vector_A_to_airplane_unit.getY() , -vector_A_to_airplane_unit.getX()); + _nav_bearing = atan2f(-vector_A_to_airplane_unit(1) , -vector_A_to_airplane_unit(0)); } } -void ECL_L1_Pos_Controller::navigate_heading(float navigation_heading, float current_heading, const math::Vector2f &ground_speed_vector) +void ECL_L1_Pos_Controller::navigate_heading(float navigation_heading, float current_heading, const math::Vector<2> &ground_speed_vector) { /* the complete guidance logic in this section was proposed by [2] */ @@ -352,14 +361,11 @@ void ECL_L1_Pos_Controller::navigate_level_flight(float current_heading) } -math::Vector2f ECL_L1_Pos_Controller::get_local_planar_vector(const math::Vector2f &origin, const math::Vector2f &target) const +math::Vector<2> ECL_L1_Pos_Controller::get_local_planar_vector(const math::Vector<2> &origin, const math::Vector<2> &target) const { /* this is an approximation for small angles, proposed by [2] */ - math::Vector2f out; - - out.setX(math::radians((target.getX() - origin.getX()))); - out.setY(math::radians((target.getY() - origin.getY())*cosf(math::radians(origin.getX())))); + math::Vector<2> out(math::radians((target(0) - origin(0))), math::radians((target(1) - origin(1))*cosf(math::radians(origin(0))))); return out * static_cast<float>(CONSTANTS_RADIUS_OF_EARTH); } |