diff --git a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c index d381f27ff..417665b6c 100644 --- a/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c +++ b/flight/modules/FixedWingPathFollower/fixedwingpathfollower.c @@ -63,6 +63,7 @@ #include "taskinfo.h" #include +#include "sin_lookup.h" #include "paths.h" #include "CoordinateConversions.h" @@ -85,6 +86,7 @@ static void updatePathVelocity(); static uint8_t updateFixedDesiredAttitude(); static void updateFixedAttitude(); static void airspeedStateUpdatedCb(UAVObjEvent *ev); +static bool correctCourse(float *C, float *V, float *F, float s); /** * Initialise the module, called on startup @@ -125,17 +127,17 @@ int32_t FixedWingPathFollowerInitialize() } MODULE_INITCALL(FixedWingPathFollowerInitialize, FixedWingPathFollowerStart); -static float northVelIntegral = 0; -static float eastVelIntegral = 0; -static float downVelIntegral = 0; +static float northVelIntegral = 0.0f; +static float eastVelIntegral = 0.0f; +static float downVelIntegral = 0.0f; -static float courseIntegral = 0; -static float speedIntegral = 0; -static float powerIntegral = 0; -static float airspeedErrorInt = 0; +static float courseIntegral = 0.0f; +static float speedIntegral = 0.0f; +static float powerIntegral = 0.0f; +static float airspeedErrorInt = 0.0f; // correct speed by measured airspeed -static float indicatedAirspeedStateBias = 0; +static float indicatedAirspeedStateBias = 0.0f; /** * Module thread, should not return. @@ -225,12 +227,12 @@ static void pathfollowerTask(__attribute__((unused)) void *parameters) } } else { // Be cleaner and get rid of global variables - northVelIntegral = 0; - eastVelIntegral = 0; - downVelIntegral = 0; - courseIntegral = 0; - speedIntegral = 0; - powerIntegral = 0; + northVelIntegral = 0.0f; + eastVelIntegral = 0.0f; + downVelIntegral = 0.0f; + courseIntegral = 0.0f; + speedIntegral = 0.0f; + powerIntegral = 0.0f; } PathStatusSet(&pathStatus); } @@ -276,14 +278,14 @@ static void updatePathVelocity() case PATHDESIRED_MODE_DRIVEVECTOR: default: groundspeed = pathDesired.StartingVelocity + (pathDesired.EndingVelocity - pathDesired.StartingVelocity) * - boundf(progress.fractional_progress, 0, 1); + boundf(progress.fractional_progress, 0.0f, 1.0f); altitudeSetpoint = pathDesired.Start.Down + (pathDesired.End.Down - pathDesired.Start.Down) * - boundf(progress.fractional_progress, 0, 1); + boundf(progress.fractional_progress, 0.0f, 1.0f); break; } // make sure groundspeed is not zero - if (groundspeed < 1e-2f) { - groundspeed = 1e-2f; + if (groundspeed < 1e-6f) { + groundspeed = 1e-6f; } // calculate velocity - can be zero if waypoints are too close @@ -302,24 +304,12 @@ static void updatePathVelocity() // in this case the plane effectively needs to be turned around // indicators: // difference between correction_direction and velocitystate >90 degrees and - // difference between path_direction and velocitystate >90 degrees ( 4th sector, facing away from eerything ) + // difference between path_direction and velocitystate >90 degrees ( 4th sector, facing away from everything ) // fix: ignore correction, steer in path direction until the situation has become better (condition doesn't apply anymore) - float angle1 = RAD2DEG(atan2f(progress.path_direction[1], progress.path_direction[0]) - atan2f(velocityState.East, velocityState.North)); - float angle2 = RAD2DEG(atan2f(progress.correction_direction[1], progress.correction_direction[0]) - atan2f(velocityState.East, velocityState.North)); - if (angle1 < -180.0f) { - angle1 += 360.0f; - } - if (angle1 > 180.0f) { - angle1 -= 360.0f; - } - if (angle2 < -180.0f) { - angle2 += 360.0f; - } - if (angle2 > 180.0f) { - angle2 -= 360.0f; - } - if (fabsf(angle1) >= 90.0f && fabsf(angle2) >= 90.0f) { - error_speed = 0; + if ( // calculating angles < 90 degrees through dot products + ((progress.path_direction[0] * velocityState.North + progress.path_direction[1] * velocityState.East) < 0.0f) && + ((progress.correction_direction[0] * velocityState.North + progress.correction_direction[1] * velocityState.East) < 0.0f)) { + error_speed = 0.0f; } // calculate correction - can also be zero if correction vector is 0 or no error present @@ -328,14 +318,16 @@ static void updatePathVelocity() // scale to correct length float l = sqrtf(velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East); - velocityDesired.North *= groundspeed / l; - velocityDesired.East *= groundspeed / l; + if (l > 1e-9f) { + velocityDesired.North *= groundspeed / l; + velocityDesired.East *= groundspeed / l; + } float downError = altitudeSetpoint - positionState.Down; - velocityDesired.Down = downError * fixedwingpathfollowerSettings.VerticalPosP; + velocityDesired.Down = downError * fixedwingpathfollowerSettings.VerticalPosP; // update pathstatus - pathStatus.error = progress.error; + pathStatus.error = progress.error; pathStatus.fractional_progress = progress.fractional_progress; VelocityDesiredSet(&velocityDesired); @@ -384,8 +376,7 @@ static uint8_t updateFixedDesiredAttitude() AirspeedStateData airspeedState; SystemSettingsData systemSettings; - float groundspeedState; - float groundspeedDesired; + float groundspeedProjection; float indicatedAirspeedState; float indicatedAirspeedDesired; float airspeedError; @@ -396,10 +387,9 @@ static uint8_t updateFixedDesiredAttitude() float descentspeedError; float powerCommand; - float bearing; - float heading; - float headingError; - float course; + float airspeedVector[2]; + float fluidMovement[2]; + float courseComponent[2]; float courseError; float courseCommand; @@ -413,24 +403,54 @@ static uint8_t updateFixedDesiredAttitude() AirspeedStateGet(&airspeedState); SystemSettingsGet(&systemSettings); - /** - * Compute speed error (required for thrust and pitch) + * Compute speed error and course */ + // missing sensors for airspeed-direction we have to assume within + // reasonable error that measured airspeed is actually the airspeed + // component in forward pointing direction + // airspeedVector is normalized + airspeedVector[0] = cos_lookup_deg(attitudeState.Yaw); + airspeedVector[1] = sin_lookup_deg(attitudeState.Yaw); - // Current ground speed - groundspeedState = sqrtf(velocityState.East * velocityState.East + velocityState.North * velocityState.North); - // note that airspeedStateBias is ( calibratedAirspeed - groundSpeed ) at the time of measurement, - // but thanks to accelerometers, groundspeed reacts faster to changes in direction + // current ground speed projected in forward direction + groundspeedProjection = velocityState.North * airspeedVector[0] + velocityState.East * airspeedVector[1]; + + // note that airspeedStateBias is ( calibratedAirspeed - groundspeedProjection ) at the time of measurement, + // but thanks to accelerometers, groundspeedProjection reacts faster to changes in direction // than airspeed and gps sensors alone - indicatedAirspeedState = groundspeedState + indicatedAirspeedStateBias; + indicatedAirspeedState = groundspeedProjection + indicatedAirspeedStateBias; - // Desired ground speed - groundspeedDesired = sqrtf(velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East); - indicatedAirspeedDesired = boundf(groundspeedDesired + indicatedAirspeedStateBias, + // fluidMovement is a vector describing the aproximate movement vector of + // the surrounding fluid in 2d space (aka wind vector) + fluidMovement[0] = velocityState.North - (indicatedAirspeedState * airspeedVector[0]); + fluidMovement[1] = velocityState.East - (indicatedAirspeedState * airspeedVector[1]); + + // calculate the movement vector we need to fly to reach velocityDesired - + // taking fluidMovement into account + courseComponent[0] = velocityDesired.North - fluidMovement[0]; + courseComponent[1] = velocityDesired.East - fluidMovement[1]; + + indicatedAirspeedDesired = boundf(sqrtf(courseComponent[0] * courseComponent[0] + courseComponent[1] * courseComponent[1]), fixedwingpathfollowerSettings.HorizontalVelMin, fixedwingpathfollowerSettings.HorizontalVelMax); + // if we could fly at arbitrary speeds, we'd just have to move towards the + // courseComponent vector as previously calculated and we'd be fine + // unfortunately however we are bound by min and max air speed limits, so + // we need to recalculate the correct course to meet at least the + // velocityDesired vector direction at our current speed + // this overwrites courseComponent + bool valid = correctCourse(courseComponent, (float *)&velocityDesired.North, fluidMovement, indicatedAirspeedDesired); + + // Error condition: wind speed too high, we can't go where we want anymore + fixedwingpathfollowerStatus.Errors.Wind = 0; + if ((!valid) && + fixedwingpathfollowerSettings.Safetymargins.Wind > 0.5f) { // alarm switched on + fixedwingpathfollowerStatus.Errors.Wind = 1; + result = 0; + } + // Airspeed error airspeedError = indicatedAirspeedDesired - indicatedAirspeedState; @@ -461,23 +481,18 @@ static uint8_t updateFixedDesiredAttitude() result = 0; } - if (indicatedAirspeedState < 1e-6f) { - // prevent division by zero, abort without controlling anything. This guidance mode is not suited for takeoff or touchdown, or handling stationary planes - // also we cannot handle planes flying backwards, lets just wait until the nose drops - fixedwingpathfollowerStatus.Errors.Lowspeed = 1; - return 0; - } - /** * Compute desired thrust command */ // compute saturated integral error thrust response. Make integral leaky for better performance. Approximately 30s time constant. - if (fixedwingpathfollowerSettings.PowerPI.Ki > 0) { + if (fixedwingpathfollowerSettings.PowerPI.Ki > 0.0f) { powerIntegral = boundf(powerIntegral + -descentspeedError * dT, -fixedwingpathfollowerSettings.PowerPI.ILimit / fixedwingpathfollowerSettings.PowerPI.Ki, fixedwingpathfollowerSettings.PowerPI.ILimit / fixedwingpathfollowerSettings.PowerPI.Ki ) * (1.0f - 1.0f / (1.0f + 30.0f / dT)); - } else { powerIntegral = 0; } + } else { + powerIntegral = 0.0f; + } // Compute the cross feed from vertical speed to pitch, with saturation float speedErrorToPowerCommandComponent = boundf( @@ -504,9 +519,9 @@ static uint8_t updateFixedDesiredAttitude() // Error condition: plane cannot hold altitude at current speed. fixedwingpathfollowerStatus.Errors.Lowpower = 0; if (fixedwingpathfollowerSettings.ThrustLimit.Neutral + powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Max && // thrust at maximum - velocityState.Down > 0 && // we ARE going down - descentspeedDesired < 0 && // we WANT to go up - airspeedError > 0 && // we are too slow already + velocityState.Down > 0.0f && // we ARE going down + descentspeedDesired < 0.0f && // we WANT to go up + airspeedError > 0.0f && // we are too slow already fixedwingpathfollowerSettings.Safetymargins.Lowpower > 0.5f) { // alarm switched on fixedwingpathfollowerStatus.Errors.Lowpower = 1; result = 0; @@ -514,9 +529,9 @@ static uint8_t updateFixedDesiredAttitude() // Error condition: plane keeps climbing despite minimum thrust (opposite of above) fixedwingpathfollowerStatus.Errors.Highpower = 0; if (fixedwingpathfollowerSettings.ThrustLimit.Neutral + powerCommand <= fixedwingpathfollowerSettings.ThrustLimit.Min && // thrust at minimum - velocityState.Down < 0 && // we ARE going up - descentspeedDesired > 0 && // we WANT to go down - airspeedError < 0 && // we are too fast already + velocityState.Down < 0.0f && // we ARE going up + descentspeedDesired > 0.0f && // we WANT to go down + airspeedError < 0.0f && // we are too fast already fixedwingpathfollowerSettings.Safetymargins.Highpower > 0.5f) { // alarm switched on fixedwingpathfollowerStatus.Errors.Highpower = 1; result = 0; @@ -526,7 +541,6 @@ static uint8_t updateFixedDesiredAttitude() /** * Compute desired pitch command */ - if (fixedwingpathfollowerSettings.SpeedPI.Ki > 0) { // Integrate with saturation airspeedErrorInt = boundf(airspeedErrorInt + airspeedError * dT, @@ -556,48 +570,18 @@ static uint8_t updateFixedDesiredAttitude() // Error condition: high speed dive fixedwingpathfollowerStatus.Errors.Pitchcontrol = 0; if (fixedwingpathfollowerSettings.PitchLimit.Neutral + pitchCommand >= fixedwingpathfollowerSettings.PitchLimit.Max && // pitch demand is full up - velocityState.Down > 0 && // we ARE going down - descentspeedDesired < 0 && // we WANT to go up - airspeedError < 0 && // we are too fast already + velocityState.Down > 0.0f && // we ARE going down + descentspeedDesired < 0.0f && // we WANT to go up + airspeedError < 0.0f && // we are too fast already fixedwingpathfollowerSettings.Safetymargins.Pitchcontrol > 0.5f) { // alarm switched on fixedwingpathfollowerStatus.Errors.Pitchcontrol = 1; result = 0; } - /** - * Calculate where we are heading and why (wind issues) - */ - bearing = attitudeState.Yaw; - heading = RAD2DEG(atan2f(velocityState.East, velocityState.North)); - headingError = heading - bearing; - if (headingError < -180.0f) { - headingError += 360.0f; - } - if (headingError > 180.0f) { - headingError -= 360.0f; - } - // Error condition: wind speed is higher than airspeed. We are forced backwards! - fixedwingpathfollowerStatus.Errors.Wind = 0; - if ((headingError > fixedwingpathfollowerSettings.Safetymargins.Wind || - headingError < -fixedwingpathfollowerSettings.Safetymargins.Wind) && - fixedwingpathfollowerSettings.Safetymargins.Highpower > 0.5f) { // alarm switched on - // we are flying backwards - fixedwingpathfollowerStatus.Errors.Wind = 1; - result = 0; - } - /** * Compute desired roll command */ - if (groundspeedDesired > 1e-6f) { - course = RAD2DEG(atan2f(velocityDesired.East, velocityDesired.North)); - - courseError = course - heading; - } else { - // if we are not supposed to move, run in a circle - courseError = -90.0f; - result = 0; - } + courseError = RAD2DEG(atan2f(courseComponent[1], courseComponent[0])) - attitudeState.Yaw; if (courseError < -180.0f) { courseError += 360.0f; @@ -606,6 +590,19 @@ static uint8_t updateFixedDesiredAttitude() courseError -= 360.0f; } + // overlap calculation. Theres a dead zone behind the craft where the + // counter-yawing of some craft while rolling could render a desired right + // turn into a desired left turn. Making the turn direction based on + // current roll angle keeps the plane committed to a direction once chosen + if (courseError < -180.0f + (fixedwingpathfollowerSettings.ReverseCourseOverlap * 0.5f) + && attitudeState.Roll > 0.0f) { + courseError += 360.0f; + } + if (courseError > 180.0f - (fixedwingpathfollowerSettings.ReverseCourseOverlap * 0.5f) + && attitudeState.Roll < 0.0f) { + courseError -= 360.0f; + } + courseIntegral = boundf(courseIntegral + courseError * dT * fixedwingpathfollowerSettings.CoursePI.Ki, -fixedwingpathfollowerSettings.CoursePI.ILimit, fixedwingpathfollowerSettings.CoursePI.ILimit); @@ -628,7 +625,7 @@ static uint8_t updateFixedDesiredAttitude() * Compute desired yaw command */ // TODO implement raw control mode for yaw and base on Accels.Y - stabDesired.Yaw = 0; + stabDesired.Yaw = 0.0f; stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; @@ -656,10 +653,116 @@ static void airspeedStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) AirspeedStateGet(&airspeedState); VelocityStateGet(&velocityState); - float groundspeed = sqrtf(velocityState.East * velocityState.East + velocityState.North * velocityState.North); + float airspeedVector[2]; + float yaw; + AttitudeStateYawGet(&yaw); + airspeedVector[0] = cos_lookup_deg(yaw); + airspeedVector[1] = sin_lookup_deg(yaw); + // vector projection of groundspeed on airspeed vector to handle both forward and backwards movement + float groundspeedProjection = velocityState.North * airspeedVector[0] + velocityState.East * airspeedVector[1]; - - indicatedAirspeedStateBias = airspeedState.CalibratedAirspeed - groundspeed; - // note - we do fly by Indicated Airspeed (== calibrated airspeed) - // however since airspeed is updated less often than groundspeed, we use sudden changes to groundspeed to offset the airspeed by the same measurement. + indicatedAirspeedStateBias = airspeedState.CalibratedAirspeed - groundspeedProjection; + // note - we do fly by Indicated Airspeed (== calibrated airspeed) however + // since airspeed is updated less often than groundspeed, we use sudden + // changes to groundspeed to offset the airspeed by the same measurement. + // This has a side effect that in the absence of any airspeed updates, the + // pathfollower will fly using groundspeed. +} + + +/** + * Function to calculate course vector C based on airspeed s, fluid movement F + * and desired movement vector V + * parameters in: V,F,s + * parameters out: C + * returns true if a valid solution could be found for V,F,s, false if not + * C will be set to a best effort attempt either way + */ +static bool correctCourse(float *C, float *V, float *F, float s) +{ + // Approach: + // Let Sc be a circle around origin marking possible movement vectors + // of the craft with airspeed s (all possible options for C) + // Let Vl be a line through the origin along movement vector V where fr any + // point v on line Vl v = k * (V / |V|) = k' * V + // Let Wl be a line parallel to Vl where for any point v on line Vl exists + // a point w on WL with w = v - F + // Then any intersection between circle Sc and line Wl represents course + // vector which would result in a movement vector + // V' = k * ( V / |V|) = k' * V + // If there is no intersection point, S is insufficient to compensate + // for F and we can only try to fly in direction of V (thus having wind drift + // but at least making progress orthogonal to wind) + + s = fabsf(s); + float f = sqrtf(F[0] * F[0] + F[1] * F[1]); + + // normalize Cn=V/|V|, |V| must be >0 + float v = sqrtf(V[0] * V[0] + V[1] * V[1]); + if (v < 1e-6f) { + // if |V|=0, we aren't supposed to move, turn into the wind + // (this allows hovering) + C[0] = -F[0]; + C[1] = -F[1]; + // if desired airspeed matches fluidmovement a hover is actually + // intended so return true + return fabsf(f - s) < 1e-3f; + } + float Vn[2] = { V[0] / v, V[1] / v }; + + // project F on V + float fp = F[0] * Vn[0] + F[1] * Vn[1]; + + // find component Fo of F that is orthogonal to V + // (which is exactly the distance between Vl and Wl) + float Fo[2] = { F[0] - (fp * Vn[0]), F[1] - (fp * Vn[1]) }; + float fo2 = Fo[0] * Fo[0] + Fo[1] * Fo[1]; + + // find k where k * Vn = C - Fo + // |C|=s is the hypothenuse in any rectangular triangle formed by k * Vn and Fo + // so k^2 + fo^2 = s^2 (since |Vn|=1) + float k2 = s * s - fo2; + if (k2 <= -1e-3f) { + // there is no solution, we will be drifted off either way + // fallback: fly stupidly in direction of V and hope for the best + C[0] = V[0]; + C[1] = V[1]; + return false; + } else if (k2 <= 1e-3f) { + // there is exactly one solution: -Fo + C[0] = -Fo[0]; + C[1] = -Fo[1]; + return true; + } + // we have two possible solutions k positive and k negative as there are + // two intersection points between Wl and Sc + // which one is better? two criteria: + // 1. we MUST move in the right direction, if any k leads to -v its invalid + // 2. we should minimize the speed error + float k = sqrt(k2); + float C1[2] = { -k * Vn[0] - Fo[0], -k * Vn[1] - Fo[1] }; + float C2[2] = { k *Vn[0] - Fo[0], k * Vn[1] - Fo[1] }; + // project C+F on Vn to find signed resulting movement vector length + float vp1 = (C1[0] + F[0]) * Vn[0] + (C1[1] + F[1]) * Vn[1]; + float vp2 = (C2[0] + F[0]) * Vn[0] + (C2[1] + F[1]) * Vn[1]; + if (vp1 >= 0.0f && fabsf(v - vp1) < fabsf(v - vp2)) { + // in this case the angle between course and resulting movement vector + // is greater than 90 degrees - so we actually fly backwards + C[0] = C1[0]; + C[1] = C1[1]; + return true; + } + C[0] = C2[0]; + C[1] = C2[1]; + if (vp2 >= 0.0f) { + // in this case the angle between course and movement vector is less than + // 90 degrees, but we do move in the right direction + return true; + } else { + // in this case we actually get driven in the opposite direction of V + // with both solutions for C + // this might be reached in headwind stronger than maximum allowed + // airspeed. + return false; + } } diff --git a/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml b/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml index 9be020de8..83bc91e25 100644 --- a/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml +++ b/shared/uavobjectdefinition/fixedwingpathfollowersettings.xml @@ -12,6 +12,8 @@ + +