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Backport the fixed wing path follower
This commit is contained in:
James Cotton
parent
574ab3fcaa
commit
4c3ca17e34
643
flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
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643
flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c
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/**
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******************************************************************************
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*
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* @file fixedwingpathfollower.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
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* and sets @ref AttitudeDesired. It only does this when the FlightMode field
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* of @ref ManualControlCommand is Auto.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Input object: ActiveWaypoint
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* Input object: PositionActual
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* Input object: ManualControlCommand
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* Output object: AttitudeDesired
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*
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* This module will periodically update the value of the AttitudeDesired object.
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*
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* The module executes in its own thread in this example.
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*
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* Modules have no API, all communication to other modules is done through UAVObjects.
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* However modules may use the API exposed by shared libraries.
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* See the OpenPilot wiki for more details.
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* http://www.openpilot.org/OpenPilot_Application_Architecture
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*
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*/
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#include "openpilot.h"
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#include "paths.h"
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#include "accels.h"
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#include "hwsettings.h"
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#include "attitudeactual.h"
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#include "pathdesired.h" // object that will be updated by the module
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#include "positionactual.h"
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#include "manualcontrol.h"
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#include "flightstatus.h"
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#include "pathstatus.h"
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#include "baroairspeed.h"
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#include "gpsvelocity.h"
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#include "gpsposition.h"
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#include "fixedwingpathfollowersettings.h"
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#include "fixedwingpathfollowerstatus.h"
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#include "homelocation.h"
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#include "nedposition.h"
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#include "stabilizationdesired.h"
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#include "stabilizationsettings.h"
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#include "systemsettings.h"
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#include "velocitydesired.h"
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#include "velocityactual.h"
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#include "CoordinateConversions.h"
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// Private constants
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#define MAX_QUEUE_SIZE 4
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#define STACK_SIZE_BYTES 1548
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#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
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#define F_PI 3.14159265358979323846f
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#define RAD2DEG (180.0f/F_PI)
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#define DEG2RAD (F_PI/180.0f)
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#define GEE 9.81f
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// Private types
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// Private variables
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static bool followerEnabled = false;
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static xTaskHandle pathfollowerTaskHandle;
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static PathDesiredData pathDesired;
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static PathStatusData pathStatus;
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static FixedWingPathFollowerSettingsData fixedwingpathfollowerSettings;
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// Private functions
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static void pathfollowerTask(void *parameters);
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static void SettingsUpdatedCb(UAVObjEvent * ev);
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static void updatePathVelocity();
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static uint8_t updateFixedDesiredAttitude();
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static void updateFixedAttitude();
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static void baroAirspeedUpdatedCb(UAVObjEvent * ev);
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static float bound(float val, float min, float max);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t FixedWingPathFollowerStart()
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{
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if (followerEnabled) {
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// Start main task
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xTaskCreate(pathfollowerTask, (signed char *)"PathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
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}
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return 0;
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t FixedWingPathFollowerInitialize()
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{
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HwSettingsInitialize();
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_FIXEDWINGPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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followerEnabled = true;
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FixedWingPathFollowerSettingsInitialize();
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FixedWingPathFollowerStatusInitialize();
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PathDesiredInitialize();
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PathStatusInitialize();
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VelocityDesiredInitialize();
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BaroAirspeedInitialize();
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} else {
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followerEnabled = false;
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}
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return 0;
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}
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MODULE_INITCALL(FixedWingPathFollowerInitialize, FixedWingPathFollowerStart)
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static float northVelIntegral = 0;
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static float eastVelIntegral = 0;
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static float downVelIntegral = 0;
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static float courseIntegral = 0;
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static float speedIntegral = 0;
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static float accelIntegral = 0;
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static float powerIntegral = 0;
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// correct speed by measured airspeed
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static float baroAirspeedBias = 0;
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/**
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* Module thread, should not return.
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*/
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static void pathfollowerTask(void *parameters)
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{
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SystemSettingsData systemSettings;
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FlightStatusData flightStatus;
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portTickType lastUpdateTime;
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BaroAirspeedConnectCallback(baroAirspeedUpdatedCb);
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FixedWingPathFollowerSettingsConnectCallback(SettingsUpdatedCb);
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PathDesiredConnectCallback(SettingsUpdatedCb);
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FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
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PathDesiredGet(&pathDesired);
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// Main task loop
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lastUpdateTime = xTaskGetTickCount();
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while (1) {
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// Conditions when this runs:
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// 1. Must have FixedWing type airframe
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// 2. Flight mode is PositionHold and PathDesired.Mode is Endpoint OR
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// FlightMode is PathPlanner and PathDesired.Mode is Endpoint or Path
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SystemSettingsGet(&systemSettings);
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if ( (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING) &&
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(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON) &&
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(systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL) )
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{
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING);
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vTaskDelay(1000);
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continue;
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}
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// Continue collecting data if not enough time
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vTaskDelayUntil(&lastUpdateTime, fixedwingpathfollowerSettings.UpdatePeriod / portTICK_RATE_MS);
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FlightStatusGet(&flightStatus);
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PathStatusGet(&pathStatus);
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uint8_t result;
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// Check the combinations of flightmode and pathdesired mode
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switch(flightStatus.FlightMode) {
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
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case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
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if (pathDesired.Mode == PATHDESIRED_MODE_FLYENDPOINT) {
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updatePathVelocity();
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result = updateFixedDesiredAttitude();
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if (result) {
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
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} else {
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING);
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}
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} else {
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_ERROR);
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}
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break;
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case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
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pathStatus.UID = pathDesired.UID;
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pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
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switch(pathDesired.Mode) {
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case PATHDESIRED_MODE_FLYENDPOINT:
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case PATHDESIRED_MODE_FLYVECTOR:
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case PATHDESIRED_MODE_FLYCIRCLERIGHT:
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case PATHDESIRED_MODE_FLYCIRCLELEFT:
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updatePathVelocity();
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result = updateFixedDesiredAttitude();
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if (result) {
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
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} else {
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pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_WARNING);
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}
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break;
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case PATHDESIRED_MODE_FIXEDATTITUDE:
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updateFixedAttitude(pathDesired.ModeParameters);
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_OK);
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break;
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case PATHDESIRED_MODE_DISARMALARM:
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_CRITICAL);
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break;
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default:
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pathStatus.Status = PATHSTATUS_STATUS_CRITICAL;
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AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE,SYSTEMALARMS_ALARM_ERROR);
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break;
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}
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break;
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default:
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// Be cleaner and get rid of global variables
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northVelIntegral = 0;
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eastVelIntegral = 0;
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downVelIntegral = 0;
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courseIntegral = 0;
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speedIntegral = 0;
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accelIntegral = 0;
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powerIntegral = 0;
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break;
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}
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PathStatusSet(&pathStatus);
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}
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}
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/**
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* Compute desired velocity from the current position and path
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*
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* Takes in @ref PositionActual and compares it to @ref PathDesired
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* and computes @ref VelocityDesired
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*/
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static void updatePathVelocity()
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{
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PositionActualData positionActual;
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PositionActualGet(&positionActual);
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VelocityActualData velocityActual;
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VelocityActualGet(&velocityActual);
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// look ahead fixedwingpathfollowerSettings.CourseFeedForward seconds
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float cur[3] = {positionActual.North + (velocityActual.North * fixedwingpathfollowerSettings.CourseFeedForward),
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positionActual.East + (velocityActual.East * fixedwingpathfollowerSettings.CourseFeedForward),
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positionActual.Down + (velocityActual.Down * fixedwingpathfollowerSettings.CourseFeedForward)
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};
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struct path_status progress;
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path_progress(pathDesired.Start, pathDesired.End, cur, &progress, pathDesired.Mode);
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float groundspeed;
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float altitudeSetpoint;
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switch (pathDesired.Mode) {
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case PATHDESIRED_MODE_FLYCIRCLERIGHT:
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case PATHDESIRED_MODE_DRIVECIRCLERIGHT:
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case PATHDESIRED_MODE_FLYCIRCLELEFT:
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case PATHDESIRED_MODE_DRIVECIRCLELEFT:
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groundspeed = pathDesired.EndingVelocity;
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altitudeSetpoint = pathDesired.End[2];
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break;
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case PATHDESIRED_MODE_FLYENDPOINT:
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case PATHDESIRED_MODE_DRIVEENDPOINT:
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case PATHDESIRED_MODE_FLYVECTOR:
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case PATHDESIRED_MODE_DRIVEVECTOR:
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default:
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groundspeed = pathDesired.StartingVelocity + (pathDesired.EndingVelocity - pathDesired.StartingVelocity) *
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bound(progress.fractional_progress,0,1);
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altitudeSetpoint = pathDesired.Start[2] + (pathDesired.End[2] - pathDesired.Start[2]) *
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bound(progress.fractional_progress,0,1);
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break;
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}
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// calculate velocity - can be zero if waypoints are too close
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VelocityDesiredData velocityDesired;
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velocityDesired.North = progress.path_direction[0] * bound(groundspeed,1e-6,groundspeed);
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velocityDesired.East = progress.path_direction[1] * bound(groundspeed,1e-6,groundspeed);
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float error_speed = progress.error * fixedwingpathfollowerSettings.HorizontalPosP;
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// calculate correction - can also be zero if correction vector is 0 or no error present
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velocityDesired.North += progress.correction_direction[0] * error_speed;
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velocityDesired.East += progress.correction_direction[1] * error_speed;
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float downError = altitudeSetpoint - positionActual.Down;
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velocityDesired.Down = downError * fixedwingpathfollowerSettings.VerticalPosP;
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// update pathstatus
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pathStatus.error = progress.error;
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pathStatus.fractional_progress = progress.fractional_progress;
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VelocityDesiredSet(&velocityDesired);
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}
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/**
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* Compute desired attitude from a fixed preset
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*
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*/
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static void updateFixedAttitude(float* attitude)
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{
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StabilizationDesiredData stabDesired;
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StabilizationDesiredGet(&stabDesired);
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stabDesired.Roll = attitude[0];
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stabDesired.Pitch = attitude[1];
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stabDesired.Yaw = attitude[2];
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stabDesired.Throttle = attitude[3];
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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StabilizationDesiredSet(&stabDesired);
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}
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/**
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* Compute desired attitude from the desired velocity
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*
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* Takes in @ref NedActual which has the acceleration in the
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* NED frame as the feedback term and then compares the
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* @ref VelocityActual against the @ref VelocityDesired
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*/
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static uint8_t updateFixedDesiredAttitude()
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{
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uint8_t result = 1;
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float dT = fixedwingpathfollowerSettings.UpdatePeriod / 1000.0f;
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VelocityDesiredData velocityDesired;
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VelocityActualData velocityActual;
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StabilizationDesiredData stabDesired;
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AttitudeActualData attitudeActual;
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AccelsData accels;
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FixedWingPathFollowerSettingsData fixedwingpathfollowerSettings;
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StabilizationSettingsData stabSettings;
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FixedWingPathFollowerStatusData fixedwingpathfollowerStatus;
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float groundspeedActual;
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float groundspeedDesired;
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float airspeedActual;
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float airspeedDesired;
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float speedError;
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float accelActual;
|
||||||
|
float accelDesired;
|
||||||
|
float accelError;
|
||||||
|
float accelCommand;
|
||||||
|
|
||||||
|
float pitchCommand;
|
||||||
|
|
||||||
|
float climbspeedDesired;
|
||||||
|
float climbspeedError;
|
||||||
|
float powerError;
|
||||||
|
float powerCommand;
|
||||||
|
|
||||||
|
float courseError;
|
||||||
|
float courseCommand;
|
||||||
|
|
||||||
|
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
|
||||||
|
|
||||||
|
FixedWingPathFollowerStatusGet(&fixedwingpathfollowerStatus);
|
||||||
|
|
||||||
|
VelocityActualGet(&velocityActual);
|
||||||
|
VelocityDesiredGet(&velocityDesired);
|
||||||
|
StabilizationDesiredGet(&stabDesired);
|
||||||
|
VelocityDesiredGet(&velocityDesired);
|
||||||
|
AttitudeActualGet(&attitudeActual);
|
||||||
|
AccelsGet(&accels);
|
||||||
|
StabilizationSettingsGet(&stabSettings);
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Compute speed error (required for throttle and pitch)
|
||||||
|
*/
|
||||||
|
|
||||||
|
// Current ground speed
|
||||||
|
groundspeedActual = sqrtf( velocityActual.East*velocityActual.East + velocityActual.North*velocityActual.North );
|
||||||
|
airspeedActual = groundspeedActual + baroAirspeedBias;
|
||||||
|
|
||||||
|
// Desired ground speed
|
||||||
|
groundspeedDesired = sqrtf(velocityDesired.North*velocityDesired.North + velocityDesired.East*velocityDesired.East);
|
||||||
|
airspeedDesired = bound( groundspeedDesired + baroAirspeedBias,
|
||||||
|
fixedwingpathfollowerSettings.AirSpeedMin,
|
||||||
|
fixedwingpathfollowerSettings.AirSpeedMax);
|
||||||
|
|
||||||
|
// Airspeed error
|
||||||
|
speedError = airspeedDesired - ( airspeedActual );
|
||||||
|
// Vertical error
|
||||||
|
climbspeedDesired = bound (
|
||||||
|
velocityDesired.Down,
|
||||||
|
-fixedwingpathfollowerSettings.VerticalVelMax,
|
||||||
|
fixedwingpathfollowerSettings.VerticalVelMax);
|
||||||
|
climbspeedError = climbspeedDesired - velocityActual.Down;
|
||||||
|
|
||||||
|
// Error condition: wind speed is higher than maximum allowed speed. We are forced backwards!
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_WIND] = 0;
|
||||||
|
if (groundspeedDesired - baroAirspeedBias <= 0 ) {
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_WIND] = 1;
|
||||||
|
result = 0;
|
||||||
|
}
|
||||||
|
// Error condition: plane too slow or too fast
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_HIGHSPEED] = 0;
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 0;
|
||||||
|
if ( airspeedActual > fixedwingpathfollowerSettings.AirSpeedMax * 1.2f) {
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_HIGHSPEED] = 1;
|
||||||
|
result = 0;
|
||||||
|
}
|
||||||
|
if (airspeedActual < fixedwingpathfollowerSettings.AirSpeedMin * 0.8f) {
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 1;
|
||||||
|
result = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (airspeedActual<1e-6) {
|
||||||
|
// 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[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWSPEED] = 1;
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Compute desired throttle command
|
||||||
|
*/
|
||||||
|
// compute desired power
|
||||||
|
powerError = -climbspeedError +
|
||||||
|
bound (
|
||||||
|
(speedError/airspeedActual) * fixedwingpathfollowerSettings.AirspeedToVerticalCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOVERTICALCROSSFEED_KP],
|
||||||
|
-fixedwingpathfollowerSettings.AirspeedToVerticalCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOVERTICALCROSSFEED_MAX],
|
||||||
|
fixedwingpathfollowerSettings.AirspeedToVerticalCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_AIRSPEEDTOVERTICALCROSSFEED_MAX]
|
||||||
|
);
|
||||||
|
powerIntegral = bound(powerIntegral + powerError * dT * fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_KI],
|
||||||
|
-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
|
||||||
|
fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
|
||||||
|
powerCommand = (powerError * fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_KP] +
|
||||||
|
powerIntegral) + fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_NEUTRAL];
|
||||||
|
|
||||||
|
// prevent integral running out of bounds
|
||||||
|
if ( powerCommand > fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX]) {
|
||||||
|
powerIntegral = bound(
|
||||||
|
powerIntegral -
|
||||||
|
( powerCommand
|
||||||
|
- fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX]),
|
||||||
|
-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
|
||||||
|
fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
|
||||||
|
powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX];
|
||||||
|
}
|
||||||
|
if ( powerCommand < fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN]) {
|
||||||
|
powerIntegral = bound(
|
||||||
|
powerIntegral -
|
||||||
|
( powerCommand
|
||||||
|
- fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN]),
|
||||||
|
-fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT],
|
||||||
|
fixedwingpathfollowerSettings.PowerPI[FIXEDWINGPATHFOLLOWERSETTINGS_POWERPI_ILIMIT]);
|
||||||
|
powerCommand = fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN];
|
||||||
|
}
|
||||||
|
|
||||||
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_POWER] = powerError;
|
||||||
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_POWER] = powerIntegral;
|
||||||
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_POWER] = powerCommand;
|
||||||
|
|
||||||
|
// set throttle
|
||||||
|
stabDesired.Throttle = powerCommand;
|
||||||
|
|
||||||
|
// Error condition: plane cannot hold altitude at current speed.
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWPOWER] = 0;
|
||||||
|
if (
|
||||||
|
powerCommand == fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MAX] // throttle at maximum
|
||||||
|
&& velocityActual.Down > 0 // we ARE going down
|
||||||
|
&& climbspeedDesired < 0 // we WANT to go up
|
||||||
|
&& speedError > 0 // we are too slow already
|
||||||
|
) {
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_LOWPOWER] = 1;
|
||||||
|
result = 0;
|
||||||
|
}
|
||||||
|
// Error condition: plane keeps climbing despite minimum throttle (opposite of above)
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_HIGHPOWER] = 0;
|
||||||
|
if (
|
||||||
|
powerCommand == fixedwingpathfollowerSettings.ThrottleLimit[FIXEDWINGPATHFOLLOWERSETTINGS_THROTTLELIMIT_MIN] // throttle at minimum
|
||||||
|
&& velocityActual.Down < 0 // we ARE going up
|
||||||
|
&& climbspeedDesired > 0 // we WANT to go down
|
||||||
|
&& speedError < 0 // we are too fast already
|
||||||
|
) {
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_HIGHPOWER] = 1;
|
||||||
|
result = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Compute desired pitch command
|
||||||
|
*/
|
||||||
|
// compute desired acceleration
|
||||||
|
accelDesired = bound( (speedError/airspeedActual) * fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_KP],
|
||||||
|
-fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_MAX],
|
||||||
|
fixedwingpathfollowerSettings.SpeedP[FIXEDWINGPATHFOLLOWERSETTINGS_SPEEDP_MAX]);
|
||||||
|
|
||||||
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_SPEED] = (speedError/airspeedActual);
|
||||||
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_SPEED] = 0.0f;
|
||||||
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_SPEED] = accelDesired;
|
||||||
|
|
||||||
|
// exclude gravity from acceleration. If the aicraft is flying at high pitch, it fights gravity without getting faster
|
||||||
|
accelActual = accels.x - (sinf( DEG2RAD * attitudeActual.Pitch) * GEE);
|
||||||
|
|
||||||
|
accelError = accelDesired - accelActual;
|
||||||
|
accelIntegral = bound(accelIntegral + accelError * dT * fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_KI],
|
||||||
|
-fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_ILIMIT],
|
||||||
|
fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_ILIMIT]);
|
||||||
|
accelCommand = (accelError * fixedwingpathfollowerSettings.AccelPI[FIXEDWINGPATHFOLLOWERSETTINGS_ACCELPI_KP] +
|
||||||
|
accelIntegral);
|
||||||
|
|
||||||
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_ACCEL] = accelError;
|
||||||
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_ACCEL] = accelIntegral;
|
||||||
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_ACCEL] = accelCommand;
|
||||||
|
|
||||||
|
// compute desired pitch
|
||||||
|
pitchCommand= -accelCommand + bound ( (-climbspeedError/airspeedActual) * fixedwingpathfollowerSettings.VerticalToPitchCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_VERTICALTOPITCHCROSSFEED_KP],
|
||||||
|
-fixedwingpathfollowerSettings.VerticalToPitchCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_VERTICALTOPITCHCROSSFEED_MAX],
|
||||||
|
fixedwingpathfollowerSettings.VerticalToPitchCrossFeed[FIXEDWINGPATHFOLLOWERSETTINGS_VERTICALTOPITCHCROSSFEED_MAX]
|
||||||
|
);
|
||||||
|
stabDesired.Pitch = bound(fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_NEUTRAL] +
|
||||||
|
pitchCommand,
|
||||||
|
fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MIN],
|
||||||
|
fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MAX]);
|
||||||
|
|
||||||
|
// Error condition: high speed dive
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_PITCHCONTROL] = 0;
|
||||||
|
if (
|
||||||
|
pitchCommand == fixedwingpathfollowerSettings.PitchLimit[FIXEDWINGPATHFOLLOWERSETTINGS_PITCHLIMIT_MAX] // pitch demand is full up
|
||||||
|
&& velocityActual.Down > 0 // we ARE going down
|
||||||
|
&& climbspeedDesired < 0 // we WANT to go up
|
||||||
|
&& speedError < 0 // we are too fast already
|
||||||
|
) {
|
||||||
|
fixedwingpathfollowerStatus.Errors[FIXEDWINGPATHFOLLOWERSTATUS_ERRORS_PITCHCONTROL] = 1;
|
||||||
|
result = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Compute desired roll command
|
||||||
|
*/
|
||||||
|
if (groundspeedDesired> 1e-6) {
|
||||||
|
courseError = RAD2DEG * (atan2f(velocityDesired.East,velocityDesired.North) - atan2f(velocityActual.East,velocityActual.North));
|
||||||
|
} else {
|
||||||
|
// if we are not supposed to move, keep going wherever we are now. Don't make things worse by changing direction.
|
||||||
|
courseError = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (courseError<-180.0f) courseError+=360.0f;
|
||||||
|
if (courseError>180.0f) courseError-=360.0f;
|
||||||
|
|
||||||
|
courseIntegral = bound(courseIntegral + courseError * dT * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KI],
|
||||||
|
-fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT],
|
||||||
|
fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_ILIMIT]);
|
||||||
|
courseCommand = (courseError * fixedwingpathfollowerSettings.CoursePI[FIXEDWINGPATHFOLLOWERSETTINGS_COURSEPI_KP] +
|
||||||
|
courseIntegral);
|
||||||
|
|
||||||
|
fixedwingpathfollowerStatus.E[FIXEDWINGPATHFOLLOWERSTATUS_E_COURSE] = courseError;
|
||||||
|
fixedwingpathfollowerStatus.A[FIXEDWINGPATHFOLLOWERSTATUS_A_COURSE] = courseIntegral;
|
||||||
|
fixedwingpathfollowerStatus.C[FIXEDWINGPATHFOLLOWERSTATUS_C_COURSE] = courseCommand;
|
||||||
|
|
||||||
|
stabDesired.Roll = bound( fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_NEUTRAL] +
|
||||||
|
courseCommand,
|
||||||
|
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MIN],
|
||||||
|
fixedwingpathfollowerSettings.RollLimit[FIXEDWINGPATHFOLLOWERSETTINGS_ROLLLIMIT_MAX] );
|
||||||
|
|
||||||
|
// TODO: find a check to determine loss of directional control. Likely needs some check of derivative
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Compute desired yaw command
|
||||||
|
*/
|
||||||
|
// TODO implement raw control mode for yaw and base on Accels.X
|
||||||
|
stabDesired.Yaw = 0;
|
||||||
|
|
||||||
|
|
||||||
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||||
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||||
|
stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = STABILIZATIONDESIRED_STABILIZATIONMODE_NONE;
|
||||||
|
|
||||||
|
StabilizationDesiredSet(&stabDesired);
|
||||||
|
|
||||||
|
FixedWingPathFollowerStatusSet(&fixedwingpathfollowerStatus);
|
||||||
|
|
||||||
|
return result;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Bound input value between limits
|
||||||
|
*/
|
||||||
|
static float bound(float val, float min, float max)
|
||||||
|
{
|
||||||
|
if (val < min) {
|
||||||
|
val = min;
|
||||||
|
} else if (val > max) {
|
||||||
|
val = max;
|
||||||
|
}
|
||||||
|
return val;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void SettingsUpdatedCb(UAVObjEvent * ev)
|
||||||
|
{
|
||||||
|
FixedWingPathFollowerSettingsGet(&fixedwingpathfollowerSettings);
|
||||||
|
PathDesiredGet(&pathDesired);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void baroAirspeedUpdatedCb(UAVObjEvent * ev)
|
||||||
|
{
|
||||||
|
|
||||||
|
BaroAirspeedData baroAirspeed;
|
||||||
|
VelocityActualData velocityActual;
|
||||||
|
|
||||||
|
BaroAirspeedGet(&baroAirspeed);
|
||||||
|
if (baroAirspeed.Connected != BAROAIRSPEED_CONNECTED_TRUE) {
|
||||||
|
baroAirspeedBias = 0;
|
||||||
|
} else {
|
||||||
|
VelocityActualGet(&velocityActual);
|
||||||
|
float groundspeed = sqrtf(velocityActual.East*velocityActual.East + velocityActual.North*velocityActual.North );
|
||||||
|
|
||||||
|
baroAirspeedBias = baroAirspeed.Airspeed - groundspeed;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@ -53,7 +53,7 @@ MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
|
|||||||
MODULES += Battery
|
MODULES += Battery
|
||||||
MODULES += Altitude/revolution GPS FirmwareIAP
|
MODULES += Altitude/revolution GPS FirmwareIAP
|
||||||
MODULES += Airspeed/revolution
|
MODULES += Airspeed/revolution
|
||||||
MODULES += AltitudeHold VtolPathFollower PathPlanner
|
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
|
||||||
MODULES += CameraStab
|
MODULES += CameraStab
|
||||||
MODULES += OveroSync
|
MODULES += OveroSync
|
||||||
MODULES += Telemetry
|
MODULES += Telemetry
|
||||||
|
|||||||
@ -54,7 +54,7 @@ USE_THUMB_MODE = YES
|
|||||||
|
|
||||||
# List of modules to include
|
# List of modules to include
|
||||||
MODULES += Actuator ManualControl Stabilization
|
MODULES += Actuator ManualControl Stabilization
|
||||||
MODULES += AltitudeHold VtolPathFollower PathPlanner
|
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
|
||||||
MODULES += Attitude/revolution
|
MODULES += Attitude/revolution
|
||||||
#MODULES += OveroSync/simulated
|
#MODULES += OveroSync/simulated
|
||||||
|
|
||||||
|
|||||||
@ -37,6 +37,7 @@ UAVOBJSRCFILENAMES += accels
|
|||||||
UAVOBJSRCFILENAMES += magnetometer
|
UAVOBJSRCFILENAMES += magnetometer
|
||||||
UAVOBJSRCFILENAMES += baroaltitude
|
UAVOBJSRCFILENAMES += baroaltitude
|
||||||
UAVOBJSRCFILENAMES += baroairspeed
|
UAVOBJSRCFILENAMES += baroairspeed
|
||||||
|
UAVOBJSRCFILENAMES += fixedwingpathfollowersettings
|
||||||
UAVOBJSRCFILENAMES += flightbatterysettings
|
UAVOBJSRCFILENAMES += flightbatterysettings
|
||||||
UAVOBJSRCFILENAMES += firmwareiapobj
|
UAVOBJSRCFILENAMES += firmwareiapobj
|
||||||
UAVOBJSRCFILENAMES += flightbatterystate
|
UAVOBJSRCFILENAMES += flightbatterystate
|
||||||
|
|||||||
@ -40,6 +40,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
|
|||||||
$$UAVOBJECT_SYNTHETICS/magnetometer.h \
|
$$UAVOBJECT_SYNTHETICS/magnetometer.h \
|
||||||
$$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
|
$$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
|
||||||
$$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \
|
$$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \
|
||||||
|
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowersettings.h \
|
||||||
$$UAVOBJECT_SYNTHETICS/systemstats.h \
|
$$UAVOBJECT_SYNTHETICS/systemstats.h \
|
||||||
$$UAVOBJECT_SYNTHETICS/systemalarms.h \
|
$$UAVOBJECT_SYNTHETICS/systemalarms.h \
|
||||||
$$UAVOBJECT_SYNTHETICS/objectpersistence.h \
|
$$UAVOBJECT_SYNTHETICS/objectpersistence.h \
|
||||||
@ -120,6 +121,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
|
|||||||
$$UAVOBJECT_SYNTHETICS/actuatorsettings.cpp \
|
$$UAVOBJECT_SYNTHETICS/actuatorsettings.cpp \
|
||||||
$$UAVOBJECT_SYNTHETICS/actuatordesired.cpp \
|
$$UAVOBJECT_SYNTHETICS/actuatordesired.cpp \
|
||||||
$$UAVOBJECT_SYNTHETICS/actuatorcommand.cpp \
|
$$UAVOBJECT_SYNTHETICS/actuatorcommand.cpp \
|
||||||
|
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowersettings.cpp \
|
||||||
$$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
|
$$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
|
||||||
$$UAVOBJECT_SYNTHETICS/gpstime.cpp \
|
$$UAVOBJECT_SYNTHETICS/gpstime.cpp \
|
||||||
$$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
|
$$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
|
||||||
|
|||||||
55
shared/uavobjectdefinition/fixedwingpathfollowersettings.xml
Normal file
55
shared/uavobjectdefinition/fixedwingpathfollowersettings.xml
Normal file
@ -0,0 +1,55 @@
|
|||||||
|
<xml>
|
||||||
|
<object name="FixedWingPathFollowerSettings" singleinstance="true" settings="true">
|
||||||
|
<description>Settings for the @ref FixedWingPathFollowerModule</description>
|
||||||
|
|
||||||
|
<!-- these coefficients control desired movement in airspace -->
|
||||||
|
<field name="AirSpeedMax" units="m/s" type="float" elements="1" defaultvalue="15"/>
|
||||||
|
<!-- maximum speed the aircraft can reach in level flight at full throttle without loosing altitude - leave some safety margin -->
|
||||||
|
<field name="AirSpeedMin" units="m/s" type="float" elements="1" defaultvalue="10"/>
|
||||||
|
<!-- stall speed - leave some safety margin -->
|
||||||
|
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="10"/>
|
||||||
|
<!-- maximum allowed climb or sink rate in guided flight-->
|
||||||
|
|
||||||
|
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="3.0"/>
|
||||||
|
<!-- how many seconds to plan the flight vector ahead when initiating necessary course changes - increase for planes with sluggish response -->
|
||||||
|
|
||||||
|
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
|
||||||
|
<!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
|
||||||
|
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.05"/>
|
||||||
|
<!-- proportional coefficient for desired vertical speed in relation to altitude displacement-->
|
||||||
|
|
||||||
|
<!-- these coefficients control actual control outputs -->
|
||||||
|
<field name="CoursePI" units="deg/deg" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.2, 0, 0"/>
|
||||||
|
<!-- coefficients for desired bank angle in relation to ground heading error - this controls heading -->
|
||||||
|
|
||||||
|
<field name="SpeedP" units="(m/s^2) / ((m/s)/(m/s)" type="float" elementnames="Kp,Max" defaultvalue="10,10"/>
|
||||||
|
<!-- coefficients for desired acceleration
|
||||||
|
in relation to relative airspeed error (IASerror/IASactual)-->
|
||||||
|
<field name="AccelPI" units="deg / (m/s^2)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="1.5, 1.5, 20"/>
|
||||||
|
<!-- coefficients for desired pitch
|
||||||
|
in relation to acceleration error -->
|
||||||
|
<field name="VerticalToPitchCrossFeed" units="deg / ((m/s)/(m/s))" type="float" elementnames="Kp,Max" defaultvalue="50, 5"/>
|
||||||
|
<!-- coefficients for adjusting desired pitch
|
||||||
|
in relation to "vertical speed error relative to airspeed" (verror/IASactual) -->
|
||||||
|
<field name="AirspeedToVerticalCrossFeed" units="(m/s) / ((m/s)/(m/s))" type="float" elementnames="Kp,Max" defaultvalue="100, 100"/>
|
||||||
|
<!-- proportional coefficient for adjusting vertical speed error for power calculation
|
||||||
|
in relation to relative airspeed error (IASerror/IASactual) -->
|
||||||
|
<field name="PowerPI" units="1/(m/s)" type="float" elements="3" elementnames="Kp,Ki,ILimit" defaultvalue="0.01,0.01,0.8"/>
|
||||||
|
<!-- proportional coefficient for desired throttle
|
||||||
|
in relation to vertical speed error (absolute but including crossfeed) -->
|
||||||
|
|
||||||
|
<!-- output limits -->
|
||||||
|
<field name="RollLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-35,0,35" />
|
||||||
|
<!-- maximum allowed bank angles in navigates flight -->
|
||||||
|
<field name="PitchLimit" units="deg" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="-10,5,20" />
|
||||||
|
<!-- maximum allowed pitch angles and setpoint for neutral pitch -->
|
||||||
|
<field name="ThrottleLimit" units="" type="float" elements="3" elementnames="Min,Neutral,Max" defaultvalue="0.1,0.5,0.9" />
|
||||||
|
<!-- minimum and maximum allowed throttle and setpoint for cruise speed -->
|
||||||
|
|
||||||
|
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/>
|
||||||
|
<access gcs="readwrite" flight="readwrite"/>
|
||||||
|
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||||
|
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||||
|
<logging updatemode="manual" period="0"/>
|
||||||
|
</object>
|
||||||
|
</xml>
|
||||||
13
shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
Normal file
13
shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
Normal file
@ -0,0 +1,13 @@
|
|||||||
|
<xml>
|
||||||
|
<object name="FixedWingPathFollowerStatus" singleinstance="true" settings="false">
|
||||||
|
<description>Object Storing Debugging Information on PID internals</description>
|
||||||
|
<field name="E" units="" type="float" elementnames="Course,Speed,Accel,Power" />
|
||||||
|
<field name="A" units="" type="float" elementnames="Course,Speed,Accel,Power" />
|
||||||
|
<field name="C" units="" type="float" elementnames="Course,Speed,Accel,Power" />
|
||||||
|
<field name="Errors" units="" type="uint8" elementnames="Wind,Lowspeed,Highspeed,Lowpower,Highpower,Pitchcontrol" />
|
||||||
|
<access gcs="readwrite" flight="readwrite"/>
|
||||||
|
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||||
|
<telemetryflight acked="false" updatemode="periodic" period="500"/>
|
||||||
|
<logging updatemode="manual" period="0"/>
|
||||||
|
</object>
|
||||||
|
</xml>
|
||||||
Loading…
x
Reference in New Issue
Block a user