diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 46 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/landingslope.cpp | 78 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/landingslope.h | 86 | ||||
| -rw-r--r-- | src/modules/fw_pos_control_l1/module.mk | 3 |
4 files changed, 184 insertions, 29 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 d60983bce..ae0f8c0ea 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 @@ -87,6 +87,7 @@ #include <ecl/l1/ecl_l1_pos_controller.h> #include <external_lgpl/tecs/tecs.h> +#include "landingslope.h" /** * L1 control app start / stop handling function @@ -168,6 +169,9 @@ private: bool land_motor_lim; bool land_onslope; + /* Landingslope object */ + Landingslope landingslope; + float flare_curve_alt_last; /* heading hold */ float target_bearing; @@ -308,11 +312,6 @@ private: void vehicle_setpoint_poll(); /** - * Get Altitude on the landing glide slope - */ - float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad, float horizontal_displacement); - - /** * Control position. */ bool control_position(const math::Vector2f &global_pos, const math::Vector2f &ground_speed, @@ -536,6 +535,9 @@ FixedwingPositionControl::parameters_update() return 1; } + /* Update the landing slope */ + landingslope.update(math::radians(_parameters.land_slope_angle), _parameters.land_flare_alt_relative, _parameters.land_thrust_lim_horizontal_distance, _parameters.land_H1_virt); + return OK; } @@ -707,11 +709,6 @@ FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &cu } } -float FixedwingPositionControl::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude, float landing_slope_angle_rad, float horizontal_displacement) -{ - return (wp_distance - horizontal_displacement) * tanf(landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative -} - bool FixedwingPositionControl::control_position(const math::Vector2f ¤t_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet) @@ -854,20 +851,13 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio float airspeed_land = 1.3f * _parameters.airspeed_min; float airspeed_approach = 1.3f * _parameters.airspeed_min; - float landing_slope_angle_rad = math::radians(_parameters.land_slope_angle); - float flare_relative_alt = _parameters.land_flare_alt_relative; - float motor_lim_horizontal_distance = _parameters.land_thrust_lim_horizontal_distance;//be generous here as we currently have to rely on the user input for the waypoint float L_wp_distance = get_distance_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), curr_wp.getX(), curr_wp.getY()) * _parameters.land_slope_length; - float H1 = _parameters.land_H1_virt; - float H0 = flare_relative_alt + H1; - float d1 = flare_relative_alt/tanf(landing_slope_angle_rad); - float flare_constant = (H0 * d1)/flare_relative_alt;//-flare_length/(logf(H1/H0)); - float flare_length = - logf(H1/H0) * flare_constant;//d1+20.0f;//-logf(0.01f/flare_relative_alt); - float horizontal_slope_displacement = (flare_length - d1); - float L_altitude = getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); - float landing_slope_alt_desired = getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); + float L_altitude = landingslope.getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(L_wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); + float landing_slope_alt_desired = landingslope.getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude);//getLandingSlopeAbsoluteAltitude(wp_distance, _mission_item_triplet.current.altitude, landing_slope_angle_rad, horizontal_slope_displacement); + + - if ( (_global_pos.alt < _mission_item_triplet.current.altitude + flare_relative_alt) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out + if ( (_global_pos.alt < _mission_item_triplet.current.altitude + landingslope.flare_relative_alt()) || land_noreturn_vertical) { //checking for land_noreturn to avoid unwanted climb out /* land with minimal speed */ @@ -877,16 +867,16 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* kill the throttle if param requests it */ throttle_max = _parameters.throttle_max; - if (wp_distance < motor_lim_horizontal_distance || land_motor_lim) { + if (wp_distance < landingslope.motor_lim_horizontal_distance() || land_motor_lim) { throttle_max = math::min(throttle_max, _parameters.throttle_land_max); if (!land_motor_lim) { land_motor_lim = true; - mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, limit throttle"); + mavlink_log_info(_mavlink_fd, "#audio: Landing, limiting throttle"); } } - float flare_curve_alt = _mission_item_triplet.current.altitude + H0 * expf(-math::max(0.0f, flare_length - wp_distance)/flare_constant) - H1; + float flare_curve_alt = _mission_item_triplet.current.altitude + landingslope.H0() * expf(-math::max(0.0f, landingslope.flare_length() - wp_distance)/landingslope.flare_constant()) - landingslope.H1_virt(); /* avoid climbout */ if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground) @@ -902,7 +892,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio flare_angle_rad, math::radians(15.0f)); if (!land_noreturn_vertical) { - mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, flare"); + mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring"); land_noreturn_vertical = true; } //warnx("Landing: flare, _global_pos.alt %.1f, flare_curve_alt %.1f, flare_curve_alt_last %.1f, flare_length %.1f, wp_distance %.1f", _global_pos.alt, flare_curve_alt, flare_curve_alt_last, flare_length, wp_distance); @@ -921,7 +911,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio if (!land_onslope) { - mavlink_log_info(_mavlink_fd, "[POSCTRL] Landing, on slope"); + mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope"); land_onslope = true; } @@ -961,7 +951,7 @@ FixedwingPositionControl::control_position(const math::Vector2f ¤t_positio /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(1.3f * _parameters.airspeed_min), _airspeed.indicated_airspeed_m_s, eas2tas, - true, math::max(math::radians(mission_item_triplet.current.radius), math::radians(10.0f)), + true, math::max(math::radians(mission_item_triplet.current.pitch_min), math::radians(10.0f)), _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise, math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max)); diff --git a/src/modules/fw_pos_control_l1/landingslope.cpp b/src/modules/fw_pos_control_l1/landingslope.cpp new file mode 100644 index 000000000..ecf51b740 --- /dev/null +++ b/src/modules/fw_pos_control_l1/landingslope.cpp @@ -0,0 +1,78 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * + * 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: landingslope.cpp + * + * @author: Thomas Gubler <thomasgubler@gmail.com> + */ + +#include "landingslope.h" + +#include <nuttx/config.h> +#include <stdlib.h> +#include <errno.h> +#include <math.h> +#include <unistd.h> + +void Landingslope::update(float landing_slope_angle_rad, + float flare_relative_alt, + float motor_lim_horizontal_distance, + float H1_virt) +{ + + _landing_slope_angle_rad = landing_slope_angle_rad; + _flare_relative_alt = flare_relative_alt; + _motor_lim_horizontal_distance = motor_lim_horizontal_distance; + _H1_virt = H1_virt; + + calculateSlopeValues(); +} + +void Landingslope::calculateSlopeValues() +{ + _H0 = _flare_relative_alt + _H1_virt; + _d1 = _flare_relative_alt/tanf(_landing_slope_angle_rad); + _flare_constant = (_H0 * _d1)/_flare_relative_alt; + _flare_length = - logf(_H1_virt/_H0) * _flare_constant; + _horizontal_slope_displacement = (_flare_length - _d1); +} + +float Landingslope::getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude) +{ + return (wp_distance - _horizontal_slope_displacement) * tanf(_landing_slope_angle_rad) + wp_altitude; //flare_relative_alt is negative +} + diff --git a/src/modules/fw_pos_control_l1/landingslope.h b/src/modules/fw_pos_control_l1/landingslope.h new file mode 100644 index 000000000..f855b796f --- /dev/null +++ b/src/modules/fw_pos_control_l1/landingslope.h @@ -0,0 +1,86 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved. + * Author: @author Lorenz Meier <lm@inf.ethz.ch> + * @author Thomas Gubler <thomasgubler@student.ethz.ch> + * @author Julian Oes <joes@student.ethz.ch> + * + * 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: landingslope.h + * + * @author: Thomas Gubler <thomasgubler@gmail.com> + */ + +#ifndef LANDINGSLOPE_H_ +#define LANDINGSLOPE_H_ + +class Landingslope +{ +private: + float _landing_slope_angle_rad; + float _flare_relative_alt; + float _motor_lim_horizontal_distance; + float _H1_virt; + float _H0; + float _d1; + float _flare_constant; + float _flare_length; + float _horizontal_slope_displacement; + + void calculateSlopeValues(); + +public: + Landingslope() {} + ~Landingslope() {} + + float getLandingSlopeAbsoluteAltitude(float wp_distance, float wp_altitude); + + void update(float landing_slope_angle_rad, + float flare_relative_alt, + float motor_lim_horizontal_distance, + float H1_virt); + + + inline float landing_slope_angle_rad() {return _landing_slope_angle_rad;} + inline float flare_relative_alt() {return _flare_relative_alt;} + inline float motor_lim_horizontal_distance() {return _motor_lim_horizontal_distance;} + inline float H1_virt() {return _H1_virt;} + inline float H0() {return _H0;} + inline float d1() {return _d1;} + inline float flare_constant() {return _flare_constant;} + inline float flare_length() {return _flare_length;} + inline float horizontal_slope_displacement() {return _horizontal_slope_displacement;} + +}; + + +#endif /* LANDINGSLOPE_H_ */ diff --git a/src/modules/fw_pos_control_l1/module.mk b/src/modules/fw_pos_control_l1/module.mk index b00b9aa5a..cf419ec7e 100644 --- a/src/modules/fw_pos_control_l1/module.mk +++ b/src/modules/fw_pos_control_l1/module.mk @@ -38,4 +38,5 @@ MODULE_COMMAND = fw_pos_control_l1 SRCS = fw_pos_control_l1_main.cpp \ - fw_pos_control_l1_params.c + fw_pos_control_l1_params.c \ + landingslope.cpp |