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-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp528
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c9
-rw-r--r--src/modules/fw_pos_control_l1/landingslope.cpp82
-rw-r--r--src/modules/fw_pos_control_l1/landingslope.h109
-rw-r--r--src/modules/fw_pos_control_l1/module.mk3
5 files changed, 517 insertions, 214 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 5e32ac32f..40cb05b7d 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
@@ -67,7 +67,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_global_position.h>
-#include <uORB/topics/vehicle_global_position_set_triplet.h>
+#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
@@ -83,9 +83,11 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
+#include <mavlink/mavlink_log.h>
#include <ecl/l1/ecl_l1_pos_controller.h>
#include <external_lgpl/tecs/tecs.h>
+#include "landingslope.h"
/**
* L1 control app start / stop handling function
@@ -115,12 +117,13 @@ public:
int start();
private:
+ int _mavlink_fd;
bool _task_should_exit; /**< if true, sensor task should exit */
int _control_task; /**< task handle for sensor task */
int _global_pos_sub;
- int _global_set_triplet_sub;
+ int _mission_item_triplet_sub;
int _att_sub; /**< vehicle attitude subscription */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
@@ -139,7 +142,7 @@ private:
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_control_mode_s _control_mode; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
- struct vehicle_global_position_set_triplet_s _global_triplet; /**< triplet of global setpoints */
+ struct mission_item_triplet_s _mission_item_triplet; /**< triplet of mission items */
struct accel_report _accel; /**< body frame accelerations */
perf_counter_t _loop_perf; /**< loop performance counter */
@@ -160,7 +163,16 @@ private:
/* land states */
/* not in non-abort mode for landing yet */
- bool land_noreturn;
+ bool land_noreturn_horizontal;
+ bool land_noreturn_vertical;
+ bool land_stayonground;
+ bool land_motor_lim;
+ bool land_onslope;
+
+ /* Landingslope object */
+ Landingslope landingslope;
+
+ float flare_curve_alt_last;
/* heading hold */
float target_bearing;
@@ -206,6 +218,16 @@ private:
float throttle_land_max;
float loiter_hold_radius;
+
+ float heightrate_p;
+ float speedrate_p;
+
+ float land_slope_angle;
+ float land_slope_length;
+ float land_H1_virt;
+ float land_flare_alt_relative;
+ float land_thrust_lim_horizontal_distance;
+
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -240,6 +262,16 @@ private:
param_t throttle_land_max;
param_t loiter_hold_radius;
+
+ param_t heightrate_p;
+ param_t speedrate_p;
+
+ param_t land_slope_angle;
+ param_t land_slope_length;
+ param_t land_H1_virt;
+ param_t land_flare_alt_relative;
+ param_t land_thrust_lim_horizontal_distance;
+
} _parameter_handles; /**< handles for interesting parameters */
@@ -280,13 +312,18 @@ private:
void vehicle_setpoint_poll();
/**
+ * Publish navigation capabilities
+ */
+ void navigation_capabilities_publish();
+
+ /**
* Control position.
*/
- bool control_position(const math::Vector<2> &global_pos, const math::Vector<2> &ground_speed,
- const struct vehicle_global_position_set_triplet_s &global_triplet);
+ bool control_position(const math::Vector2f &global_pos, const math::Vector2f &ground_speed,
+ const struct mission_item_triplet_s &_mission_item_triplet);
float calculate_target_airspeed(float airspeed_demand);
- void calculate_gndspeed_undershoot();
+ void calculate_gndspeed_undershoot(const math::Vector2f &current_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet);
/**
* Shim for calling task_main from task_create.
@@ -318,7 +355,7 @@ FixedwingPositionControl::FixedwingPositionControl() :
/* subscriptions */
_global_pos_sub(-1),
- _global_set_triplet_sub(-1),
+ _mission_item_triplet_sub(-1),
_att_sub(-1),
_airspeed_sub(-1),
_control_mode_sub(-1),
@@ -338,8 +375,28 @@ FixedwingPositionControl::FixedwingPositionControl() :
_airspeed_valid(false),
_groundspeed_undershoot(0.0f),
_global_pos_valid(false),
- land_noreturn(false)
+ land_noreturn_horizontal(false),
+ land_noreturn_vertical(false),
+ land_stayonground(false),
+ land_motor_lim(false),
+ land_onslope(false),
+ flare_curve_alt_last(0.0f),
+ _mavlink_fd(-1)
{
+ /* safely initialize structs */
+ vehicle_attitude_s _att = {0};
+ vehicle_attitude_setpoint_s _att_sp = {0};
+ navigation_capabilities_s _nav_capabilities = {0};
+ manual_control_setpoint_s _manual = {0};
+ airspeed_s _airspeed = {0};
+ vehicle_control_mode_s _control_mode = {0};
+ vehicle_global_position_s _global_pos = {0};
+ mission_item_triplet_s _mission_item_triplet = {0};
+ accel_report _accel = {0};
+
+
+
+
_nav_capabilities.turn_distance = 0.0f;
_parameter_handles.l1_period = param_find("FW_L1_PERIOD");
@@ -358,6 +415,12 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.throttle_cruise = param_find("FW_THR_CRUISE");
_parameter_handles.throttle_land_max = param_find("FW_THR_LND_MAX");
+ _parameter_handles.land_slope_angle = param_find("FW_LND_ANG");
+ _parameter_handles.land_slope_length = param_find("FW_LND_SLLR");
+ _parameter_handles.land_H1_virt = param_find("FW_LND_HVIRT");
+ _parameter_handles.land_flare_alt_relative = param_find("FW_LND_FLALT");
+ _parameter_handles.land_thrust_lim_horizontal_distance = param_find("FW_LND_TLDIST");
+
_parameter_handles.time_const = param_find("FW_T_TIME_CONST");
_parameter_handles.min_sink_rate = param_find("FW_T_SINK_MIN");
_parameter_handles.max_sink_rate = param_find("FW_T_SINK_MAX");
@@ -370,6 +433,8 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.roll_throttle_compensation = param_find("FW_T_RLL2THR");
_parameter_handles.speed_weight = param_find("FW_T_SPDWEIGHT");
_parameter_handles.pitch_damping = param_find("FW_T_PTCH_DAMP");
+ _parameter_handles.heightrate_p = param_find("FW_T_HRATE_P");
+ _parameter_handles.speedrate_p = param_find("FW_T_SRATE_P");
/* fetch initial parameter values */
parameters_update();
@@ -435,6 +500,15 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.pitch_damping, &(_parameters.pitch_damping));
param_get(_parameter_handles.max_climb_rate, &(_parameters.max_climb_rate));
+ param_get(_parameter_handles.heightrate_p, &(_parameters.heightrate_p));
+ param_get(_parameter_handles.speedrate_p, &(_parameters.speedrate_p));
+
+ param_get(_parameter_handles.land_slope_angle, &(_parameters.land_slope_angle));
+ param_get(_parameter_handles.land_slope_length, &(_parameters.land_slope_length));
+ param_get(_parameter_handles.land_H1_virt, &(_parameters.land_H1_virt));
+ param_get(_parameter_handles.land_flare_alt_relative, &(_parameters.land_flare_alt_relative));
+ param_get(_parameter_handles.land_thrust_lim_horizontal_distance, &(_parameters.land_thrust_lim_horizontal_distance));
+
_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));
@@ -447,12 +521,14 @@ FixedwingPositionControl::parameters_update()
_tecs.set_vertical_accel_limit(_parameters.vertical_accel_limit);
_tecs.set_height_comp_filter_omega(_parameters.height_comp_filter_omega);
_tecs.set_speed_comp_filter_omega(_parameters.speed_comp_filter_omega);
- _tecs.set_roll_throttle_compensation(math::radians(_parameters.roll_throttle_compensation));
+ _tecs.set_roll_throttle_compensation(_parameters.roll_throttle_compensation);
_tecs.set_speed_weight(_parameters.speed_weight);
_tecs.set_pitch_damping(_parameters.pitch_damping);
_tecs.set_indicated_airspeed_min(_parameters.airspeed_min);
_tecs.set_indicated_airspeed_max(_parameters.airspeed_max);
_tecs.set_max_climb_rate(_parameters.max_climb_rate);
+ _tecs.set_heightrate_p(_parameters.heightrate_p);
+ _tecs.set_speedrate_p(_parameters.speedrate_p);
/* sanity check parameters */
if (_parameters.airspeed_max < _parameters.airspeed_min ||
@@ -464,6 +540,15 @@ 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);
+
+ /* Update and publish the navigation capabilities */
+ _nav_capabilities.landing_slope_angle_rad = landingslope.landing_slope_angle_rad();
+ _nav_capabilities.landing_horizontal_slope_displacement = landingslope.horizontal_slope_displacement();
+ _nav_capabilities.landing_flare_length = landingslope.flare_length();
+ navigation_capabilities_publish();
+
return OK;
}
@@ -548,11 +633,11 @@ void
FixedwingPositionControl::vehicle_setpoint_poll()
{
/* check if there is a new setpoint */
- bool global_sp_updated;
- orb_check(_global_set_triplet_sub, &global_sp_updated);
+ bool mission_item_triplet_updated;
+ orb_check(_mission_item_triplet_sub, &mission_item_triplet_updated);
- if (global_sp_updated) {
- orb_copy(ORB_ID(vehicle_global_position_set_triplet), _global_set_triplet_sub, &_global_triplet);
+ if (mission_item_triplet_updated) {
+ orb_copy(ORB_ID(mission_item_triplet), _mission_item_triplet_sub, &_mission_item_triplet);
_setpoint_valid = true;
}
}
@@ -595,17 +680,29 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand)
}
void
-FixedwingPositionControl::calculate_gndspeed_undershoot()
+FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector2f &current_position, const math::Vector2f &ground_speed, const struct mission_item_triplet_s &mission_item_triplet)
{
if (_global_pos_valid) {
- /* get ground speed vector */
- math::Vector<2> ground_speed_vector(_global_pos.vx, _global_pos.vy);
- /* rotate with current attitude */
- math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
+ /* rotate ground speed vector with current attitude */
+ math::Vector2f yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
yaw_vector.normalize();
- float ground_speed_body = yaw_vector * ground_speed_vector;
+ float ground_speed_body = yaw_vector * ground_speed;
+
+ /* The minimum desired ground speed is the minimum airspeed projected on to the ground using the altitude and horizontal difference between the waypoints if available*/
+ float distance = 0.0f;
+ float delta_altitude = 0.0f;
+ if (mission_item_triplet.previous_valid) {
+ distance = get_distance_to_next_waypoint(mission_item_triplet.previous.lat, mission_item_triplet.previous.lon, mission_item_triplet.current.lat, mission_item_triplet.current.lon);
+ delta_altitude = mission_item_triplet.current.altitude - mission_item_triplet.previous.altitude;
+ } else {
+ distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), mission_item_triplet.current.lat, mission_item_triplet.current.lon);
+ delta_altitude = mission_item_triplet.current.altitude - _global_pos.alt;
+ }
+
+ float ground_speed_desired = _parameters.airspeed_min * cosf(atan2f(delta_altitude, distance));
+
/*
* Ground speed undershoot is the amount of ground velocity not reached
@@ -616,20 +713,29 @@ FixedwingPositionControl::calculate_gndspeed_undershoot()
* not exceeded) travels towards a waypoint (and is not pushed more and more away
* by wind). Not countering this would lead to a fly-away.
*/
- _groundspeed_undershoot = math::max(_parameters.airspeed_min - ground_speed_body, 0.0f);
+ _groundspeed_undershoot = math::max(ground_speed_desired - ground_speed_body, 0.0f);
} else {
_groundspeed_undershoot = 0;
}
}
+void FixedwingPositionControl::navigation_capabilities_publish()
+{
+ if (_nav_capabilities_pub > 0) {
+ orb_publish(ORB_ID(navigation_capabilities), _nav_capabilities_pub, &_nav_capabilities);
+ } else {
+ _nav_capabilities_pub = orb_advertise(ORB_ID(navigation_capabilities), &_nav_capabilities);
+ }
+}
+
bool
-FixedwingPositionControl::control_position(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed,
- const struct vehicle_global_position_set_triplet_s &global_triplet)
+FixedwingPositionControl::control_position(const math::Vector2f &current_position, const math::Vector2f &ground_speed,
+ const struct mission_item_triplet_s &mission_item_triplet)
{
bool setpoint = true;
- calculate_gndspeed_undershoot();
+ calculate_gndspeed_undershoot(current_position, ground_speed, mission_item_triplet);
float eas2tas = 1.0f; // XXX calculate actual number based on current measurements
@@ -641,7 +747,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::Vector<3> accel_earth = _R_nb.transposed() * accel_body;
_tecs.update_50hz(baro_altitude, _airspeed.indicated_airspeed_m_s, _R_nb, accel_body, accel_earth);
- float altitude_error = _global_triplet.current.altitude - _global_pos.alt;
+ float altitude_error = _mission_item_triplet.current.altitude - _global_pos.alt;
/* no throttle limit as default */
float throttle_max = 1.0f;
@@ -658,252 +764,245 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* restore speed weight, in case changed intermittently (e.g. in landing handling) */
_tecs.set_speed_weight(_parameters.speed_weight);
- /* execute navigation once we have a setpoint */
- if (_setpoint_valid) {
+ /* current waypoint (the one currently heading for) */
+ math::Vector2f next_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
- /* current waypoint (the one currently heading for) */
- math::Vector<2> next_wp(global_triplet.current.lat / 1e7f, global_triplet.current.lon / 1e7f);
+ /* current waypoint (the one currently heading for) */
+ math::Vector2f curr_wp(mission_item_triplet.current.lat, mission_item_triplet.current.lon);
- /* previous waypoint */
- math::Vector<2> prev_wp;
- if (global_triplet.previous_valid) {
- prev_wp(0) = global_triplet.previous.lat / 1e7f;
- prev_wp(1) = global_triplet.previous.lon / 1e7f;
+ /* previous waypoint */
+ math::Vector2f prev_wp;
- } else {
- /*
- * No valid previous waypoint, go for the current wp.
- * This is automatically handled by the L1 library.
- */
- prev_wp(0) = global_triplet.current.lat / 1e7f;
- prev_wp(1) = global_triplet.current.lon / 1e7f;
+ if (mission_item_triplet.previous_valid) {
+ prev_wp.setX(mission_item_triplet.previous.lat);
+ prev_wp.setY(mission_item_triplet.previous.lon);
- }
+ } else {
+ /*
+ * No valid previous waypoint, go for the current wp.
+ * This is automatically handled by the L1 library.
+ */
+ prev_wp.setX(mission_item_triplet.current.lat);
+ prev_wp.setY(mission_item_triplet.current.lon);
- // XXX add RTL switch
- if (global_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH && _launch_valid) {
+ }
- math::Vector<2> rtl_pos(_launch_lat, _launch_lon);
+ if (mission_item_triplet.current.nav_cmd == NAV_CMD_WAYPOINT || mission_item_triplet.current.nav_cmd == NAV_CMD_RETURN_TO_LAUNCH) {
+ /* waypoint is a plain navigation waypoint */
+ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- _l1_control.navigate_waypoints(rtl_pos, rtl_pos, current_position, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _launch_alt, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ } else if (mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
+ mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+ mission_item_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
- // XXX handle case when having arrived at home (loiter)
+ /* waypoint is a loiter waypoint */
+ _l1_control.navigate_loiter(curr_wp, current_position, mission_item_triplet.current.loiter_radius,
+ mission_item_triplet.current.loiter_direction, ground_speed);
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- } else if (global_triplet.current.nav_cmd == NAV_CMD_WAYPOINT) {
- /* waypoint is a plain navigation waypoint */
- _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ } else if (mission_item_triplet.current.nav_cmd == NAV_CMD_LAND) {
- } else if (global_triplet.current.nav_cmd == NAV_CMD_LOITER_TURN_COUNT ||
- global_triplet.current.nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
- global_triplet.current.nav_cmd == NAV_CMD_LOITER_UNLIMITED) {
+ /* Horizontal landing control */
+ /* switch to heading hold for the last meters, continue heading hold after */
+ float wp_distance = get_distance_to_next_waypoint(current_position.getX(), current_position.getY(), curr_wp.getX(), curr_wp.getY());
+ //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
+ const float heading_hold_distance = 15.0f;
+ if (wp_distance < heading_hold_distance || land_noreturn_horizontal) {
- /* waypoint is a loiter waypoint */
- _l1_control.navigate_loiter(next_wp, current_position, global_triplet.current.loiter_radius,
- global_triplet.current.loiter_direction, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ /* heading hold, along the line connecting this and the last waypoint */
+
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ // if (mission_item_triplet.previous_valid) {
+ // target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
+ // } else {
- } else if (global_triplet.current.nav_cmd == NAV_CMD_LAND) {
+ if (!land_noreturn_horizontal) //set target_bearing in first occurrence
+ target_bearing = _att.yaw;
+ //}
- /* switch to heading hold for the last meters, continue heading hold after */
+// warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn_horizontal, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw));
- float wp_distance = get_distance_to_next_waypoint(prev_wp(0), prev_wp(1), current_position(0), current_position(1));
- //warnx("wp dist: %d, alt err: %d, noret: %s", (int)wp_distance, (int)altitude_error, (land_noreturn) ? "YES" : "NO");
- if (wp_distance < 15.0f || land_noreturn) {
+ _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
- /* heading hold, along the line connecting this and the last waypoint */
-
+ /* limit roll motion to prevent wings from touching the ground first */
+ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
- // if (global_triplet.previous_valid) {
- // target_bearing = get_bearing_to_next_waypoint(prev_wp.getX(), prev_wp.getY(), next_wp.getX(), next_wp.getY());
- // } else {
+ land_noreturn_horizontal = true;
- if (!land_noreturn)
- target_bearing = _att.yaw;
- //}
-
- warnx("NORET: %d, target_bearing: %d, yaw: %d", (int)land_noreturn, (int)math::degrees(target_bearing), (int)math::degrees(_att.yaw));
+ } else {
- _l1_control.navigate_heading(target_bearing, _att.yaw, ground_speed);
+ /* normal navigation */
+ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
+ }
- if (altitude_error > -5.0f)
- land_noreturn = true;
+ _att_sp.roll_body = _l1_control.nav_roll();
+ _att_sp.yaw_body = _l1_control.nav_bearing();
- } else {
- /* normal navigation */
- _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
- }
+ /* Vertical landing control */
+ //xxx: using the tecs altitude controller for slope control for now
- /* do not go down too early */
- if (wp_distance > 50.0f) {
- altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt;
- }
+// /* do not go down too early */
+// if (wp_distance > 50.0f) {
+// altitude_error = (_global_triplet.current.altitude + 25.0f) - _global_pos.alt;
+// }
+ /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
+ // XXX this could make a great param
+ float flare_pitch_angle_rad = -math::radians(5.0f);//math::radians(mission_item_triplet.current.param1)
+ float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
+ float airspeed_land = 1.3f * _parameters.airspeed_min;
+ float airspeed_approach = 1.3f * _parameters.airspeed_min;
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ 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 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);
- /* apply minimum pitch (flare) and limit roll if close to touch down, altitude error is negative (going down) */
- // XXX this could make a great param
- float flare_angle_rad = math::radians(10.0f);//math::radians(global_triplet.current.param1)
- float land_pitch_min = math::radians(5.0f);
- float throttle_land = _parameters.throttle_min + (_parameters.throttle_max - _parameters.throttle_min) * 0.1f;
- float airspeed_land = _parameters.airspeed_min;
- float airspeed_approach = (_parameters.airspeed_min + _parameters.airspeed_trim) / 2.0f;
- if (altitude_error > -4.0f) {
+ 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 */
+ /* land with minimal speed */
- /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
- _tecs.set_speed_weight(2.0f);
+// /* force TECS to only control speed with pitch, altitude is only implicitely controlled now */
+// _tecs.set_speed_weight(2.0f);
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_land),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, flare_angle_rad,
- 0.0f, _parameters.throttle_max, throttle_land,
- math::radians(-10.0f), math::radians(15.0f));
+ /* kill the throttle if param requests it */
+ throttle_max = _parameters.throttle_max;
- /* kill the throttle if param requests it */
+ 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, "#audio: Landing, limiting throttle");
+ }
- /* limit roll motion to prevent wings from touching the ground first */
- _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-10.0f), math::radians(10.0f));
-
- } else if (wp_distance < 60.0f && altitude_error > -20.0f) {
-
- /* minimize speed to approach speed */
-
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(airspeed_approach),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, flare_angle_rad,
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
-
- } else {
+ }
- /* normal cruise speed */
+ float flare_curve_alt = landingslope.getFlareCurveAltitude(wp_distance, _mission_item_triplet.current.altitude);
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ /* avoid climbout */
+ if (flare_curve_alt_last < flare_curve_alt && land_noreturn_vertical || land_stayonground)
+ {
+ flare_curve_alt = mission_item_triplet.current.altitude;
+ land_stayonground = true;
}
- } else if (global_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, flare_curve_alt, calculate_target_airspeed(airspeed_land),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, flare_pitch_angle_rad,
+ 0.0f, throttle_max, throttle_land,
+ flare_pitch_angle_rad, math::radians(15.0f));
- _l1_control.navigate_waypoints(prev_wp, next_wp, current_position, ground_speed);
- _att_sp.roll_body = _l1_control.nav_roll();
- _att_sp.yaw_body = _l1_control.nav_bearing();
+ if (!land_noreturn_vertical) {
+ 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);
- /* apply minimum pitch and limit roll if target altitude is not within 10 meters */
- if (altitude_error > 10.0f) {
+ flare_curve_alt_last = flare_curve_alt;
- /* enforce a minimum of 10 degrees pitch up on takeoff, or take parameter */
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_min),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- true, math::max(math::radians(global_triplet.current.param1), 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));
+ } else if (wp_distance < L_wp_distance) {
- /* limit roll motion to ensure enough lift */
- _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
+ /* minimize speed to approach speed, stay on landing slope */
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, landing_slope_alt_desired, calculate_target_airspeed(airspeed_approach),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, flare_pitch_angle_rad,
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ //warnx("Landing: stay on slope, alt_desired: %.1f (wp_distance: %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f, d1 %.1f, flare_length %.1f", landing_slope_alt_desired, wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement, d1, flare_length);
- } else {
+ if (!land_onslope) {
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- false, math::radians(_parameters.pitch_limit_min),
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
+ mavlink_log_info(_mavlink_fd, "#audio: Landing, on slope");
+ land_onslope = true;
}
- }
-
- // warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
- // (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
- // warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp.getX(), (double)prev_wp.getY(),
- // (double)next_wp.getX(), (double)next_wp.getY(), (global_triplet.previous_valid) ? "valid" : "invalid");
-
- // XXX at this point we always want no loiter hold if a
- // mission is active
- _loiter_hold = false;
- } else if (_control_mode.flag_armed) {
-
- /* hold position, but only if armed, climb 20m in case this is engaged on ground level */
+ } else {
- // XXX rework with smarter state machine
+ /* intersect glide slope:
+ * if current position is higher or within 10m of slope follow the glide slope
+ * if current position is below slope -10m continue on maximum of previous wp altitude or L_altitude until the intersection with the slope
+ * */
+ float altitude_desired = _global_pos.alt;
+ if (_global_pos.alt > landing_slope_alt_desired - 10.0f) {
+ /* stay on slope */
+ altitude_desired = landing_slope_alt_desired;
+ //warnx("Landing: before L, stay on landing slope, alt_desired: %.1f (wp_distance: %.1f, L_wp_distance %.1f), calculate_target_airspeed(airspeed_land) %.1f, horizontal_slope_displacement %.1f", altitude_desired, wp_distance, L_wp_distance, calculate_target_airspeed(airspeed_land), horizontal_slope_displacement);
+ } else {
+ /* continue horizontally */
+ altitude_desired = math::max(_global_pos.alt, L_altitude);
+ //warnx("Landing: before L,continue at: %.4f, (landing_slope_alt_desired %.4f, wp_distance: %.4f, L_altitude: %.4f L_wp_distance: %.4f)", altitude_desired, landing_slope_alt_desired, wp_distance, L_altitude, L_wp_distance);
+ }
- if (!_loiter_hold) {
- _loiter_hold_lat = _global_pos.lat / 1e7f;
- _loiter_hold_lon = _global_pos.lon / 1e7f;
- _loiter_hold_alt = _global_pos.alt + 25.0f;
- _loiter_hold = true;
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, altitude_desired, calculate_target_airspeed(airspeed_approach),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
}
- altitude_error = _loiter_hold_alt - _global_pos.alt;
-
- math::Vector<2> loiter_hold_pos(_loiter_hold_lat, _loiter_hold_lon);
+ } else if (mission_item_triplet.current.nav_cmd == NAV_CMD_TAKEOFF) {
- /* loiter around current position */
- _l1_control.navigate_loiter(loiter_hold_pos, current_position, _parameters.loiter_hold_radius,
- 1, ground_speed);
+ _l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed);
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
- /* climb with full throttle if the altitude error is bigger than 5 meters */
- bool climb_out = (altitude_error > 3);
+ /* apply minimum pitch and limit roll if target altitude is not within 10 meters */
+ if (altitude_error > 15.0f) {
- float min_pitch;
+ /* 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.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));
- if (climb_out) {
- min_pitch = math::radians(20.0f);
+ /* limit roll motion to ensure enough lift */
+ _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
} else {
- min_pitch = math::radians(_parameters.pitch_limit_min);
- }
- _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _loiter_hold_alt, calculate_target_airspeed(_parameters.airspeed_trim),
- _airspeed.indicated_airspeed_m_s, eas2tas,
- climb_out, min_pitch,
- _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
- math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
-
- if (climb_out) {
- /* limit roll motion to ensure enough lift */
- _att_sp.roll_body = math::constrain(_att_sp.roll_body, math::radians(-15.0f), math::radians(15.0f));
+ _tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _mission_item_triplet.current.altitude, calculate_target_airspeed(_parameters.airspeed_trim),
+ _airspeed.indicated_airspeed_m_s, eas2tas,
+ false, math::radians(_parameters.pitch_limit_min),
+ _parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
+ math::radians(_parameters.pitch_limit_min), math::radians(_parameters.pitch_limit_max));
}
}
+ // warnx("nav bearing: %8.4f bearing err: %8.4f target bearing: %8.4f", (double)_l1_control.nav_bearing(),
+ // (double)_l1_control.bearing_error(), (double)_l1_control.target_bearing());
+ // warnx("prev wp: %8.4f/%8.4f, next wp: %8.4f/%8.4f prev:%s", (double)prev_wp.getX(), (double)prev_wp.getY(),
+ // (double)next_wp.getX(), (double)next_wp.getY(), (mission_item_triplet.previous_valid) ? "valid" : "invalid");
+
+ // XXX at this point we always want no loiter hold if a
+ // mission is active
+ _loiter_hold = false;
+
/* reset land state */
- if (global_triplet.current.nav_cmd != NAV_CMD_LAND) {
- land_noreturn = false;
+ if (mission_item_triplet.current.nav_cmd != NAV_CMD_LAND) {
+ land_noreturn_horizontal = false;
+ land_noreturn_vertical = false;
+ land_stayonground = false;
+ land_motor_lim = false;
+ land_onslope = false;
}
if (was_circle_mode && !_l1_control.circle_mode()) {
@@ -1018,7 +1117,7 @@ FixedwingPositionControl::task_main()
* do subscriptions
*/
_global_pos_sub = orb_subscribe(ORB_ID(vehicle_global_position));
- _global_set_triplet_sub = orb_subscribe(ORB_ID(vehicle_global_position_set_triplet));
+ _mission_item_triplet_sub = orb_subscribe(ORB_ID(mission_item_triplet));
_att_sub = orb_subscribe(ORB_ID(vehicle_attitude));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@@ -1080,6 +1179,11 @@ FixedwingPositionControl::task_main()
/* only run controller if position changed */
if (fds[1].revents & POLLIN) {
+ /* XXX Hack to get mavlink output going */
+ if (_mavlink_fd < 0) {
+ /* try to open the mavlink log device every once in a while */
+ _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
+ }
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
@@ -1108,7 +1212,7 @@ FixedwingPositionControl::task_main()
* Attempt to control position, on success (= sensors present and not in manual mode),
* publish setpoint.
*/
- if (control_position(current_position, ground_speed, _global_triplet)) {
+ if (control_position(current_position, ground_speed, _mission_item_triplet)) {
_att_sp.timestamp = hrt_absolute_time();
/* lazily publish the setpoint only once available */
@@ -1121,7 +1225,8 @@ FixedwingPositionControl::task_main()
_attitude_sp_pub = orb_advertise(ORB_ID(vehicle_attitude_setpoint), &_att_sp);
}
- float turn_distance = _l1_control.switch_distance(_global_triplet.current.turn_distance_xy);
+ /* XXX check if radius makes sense here */
+ float turn_distance = _l1_control.switch_distance(_mission_item_triplet.current.radius);
/* lazily publish navigation capabilities */
if (turn_distance != _nav_capabilities.turn_distance && turn_distance > 0) {
@@ -1129,11 +1234,8 @@ FixedwingPositionControl::task_main()
/* set new turn distance */
_nav_capabilities.turn_distance = turn_distance;
- if (_nav_capabilities_pub > 0) {
- orb_publish(ORB_ID(navigation_capabilities), _nav_capabilities_pub, &_nav_capabilities);
- } else {
- _nav_capabilities_pub = orb_advertise(ORB_ID(navigation_capabilities), &_nav_capabilities);
- }
+ navigation_capabilities_publish();
+
}
}
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
index 3bb872405..10a0c00fc 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
@@ -111,3 +111,12 @@ PARAM_DEFINE_FLOAT(FW_T_PTCH_DAMP, 0.0f);
PARAM_DEFINE_FLOAT(FW_T_SINK_MAX, 5.0f);
+
+PARAM_DEFINE_FLOAT(FW_T_HRATE_P, 0.05f);
+PARAM_DEFINE_FLOAT(FW_T_SRATE_P, 0.05f);
+
+PARAM_DEFINE_FLOAT(FW_LND_ANG, 10.0f);
+PARAM_DEFINE_FLOAT(FW_LND_SLLR, 0.9f);
+PARAM_DEFINE_FLOAT(FW_LND_HVIRT, 10.0f);
+PARAM_DEFINE_FLOAT(FW_LND_FLALT, 15.0f);
+PARAM_DEFINE_FLOAT(FW_LND_TLDIST, 30.0f);
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..b139a6397
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/landingslope.cpp
@@ -0,0 +1,82 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ * Author: @author Thomas Gubler <thomasgubler@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
+ *
+ */
+
+#include "landingslope.h"
+
+#include <nuttx/config.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <math.h>
+#include <unistd.h>
+#include <mathlib/mathlib.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 Landingslope::getLandingSlopeAbsoluteAltitude(wp_distance, wp_altitude, _horizontal_slope_displacement, _landing_slope_angle_rad);
+}
+
+float Landingslope::getFlareCurveAltitude(float wp_landing_distance, float wp_landing_altitude)
+{
+ return wp_landing_altitude + _H0 * expf(-math::max(0.0f, _flare_length - wp_landing_distance)/_flare_constant) - _H1_virt;
+
+}
+
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..8ff431509
--- /dev/null
+++ b/src/modules/fw_pos_control_l1/landingslope.h
@@ -0,0 +1,109 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
+ * Author: @author Thomas Gubler <thomasgubler@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
+ *
+ */
+
+#ifndef LANDINGSLOPE_H_
+#define LANDINGSLOPE_H_
+
+#include <math.h>
+#include <systemlib/err.h>
+
+class Landingslope
+{
+private:
+ //xxx: documentation of landing pending
+ 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_landing_distance, float wp_landing_altitude);
+
+ /**
+ *
+ * @return Absolute altitude of point on landing slope at distance to landing waypoint=wp_landing_distance
+ */
+ __EXPORT static float getLandingSlopeAbsoluteAltitude(float wp_landing_distance, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)
+ {
+ return (wp_landing_distance - horizontal_slope_displacement) * tanf(landing_slope_angle_rad) + wp_landing_altitude; //flare_relative_alt is negative
+ }
+
+ /**
+ *
+ * @return distance to landing waypoint of point on landing slope at altitude=slope_altitude
+ */
+ __EXPORT static float getLandingSlopeWPDistance(float slope_altitude, float wp_landing_altitude, float horizontal_slope_displacement, float landing_slope_angle_rad)
+ {
+ return (slope_altitude - wp_landing_altitude)/tanf(landing_slope_angle_rad) + horizontal_slope_displacement;
+
+ }
+
+
+ float getFlareCurveAltitude(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
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-05 21:25:16 +0000