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OP-1350 refactor into a plans library all functions dealing with initialization and execution of PathFollower/pathplanner commands for manualcontrol

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This commit is contained in:
Alessio Morale 2014-05-19 18:35:18 +02:00
parent d88d73e7fe
commit 92bf876654
7 changed files with 226 additions and 64 deletions
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69
flight/libraries/inc/plans.h Normal file
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@ -0,0 +1,69 @@
/**
******************************************************************************
* @addtogroup OpenPilotLibraries OpenPilot Libraries
* @{
* @addtogroup Navigation
* @brief setups RTH/PH and other pathfollower/pathplanner status
* @{
*
* @file plan.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PLANS_H_
#define PLANS_H_
#include <pios_math.h>
/** \page standard Plans
How to use this library
\li Call plan_initialize() to init all needed struct and uavos at startup.<br>
It may be safely called more than once.<br>
\li Functions called plan_setup_* needs to be called once, every time the requested function is engaged.<br>
\li Functions called plan_run_* are to be periodically called while the requested mode is engaged.<br>
*/
/**
* @brief initialize UAVOs and structs used by this library
*/
void plan_initialize();
/**
* @brief setup pathplanner/pathfollower for positionhold
*/
void plan_setup_positionHold();
/**
* @brief setup pathplanner/pathfollower for return to base
*/
void plan_setup_returnToBase();
/**
* @brief setup pathplanner/pathfollower for land
*/
void plan_setup_land();
/**
* @brief execute land
*/
void plan_run_land();
#endif /* PLANS_H_ */

130
flight/libraries/plans.c Normal file
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@ -0,0 +1,130 @@
/**
******************************************************************************
* @addtogroup OpenPilotLibraries OpenPilot Libraries
* @{
* @addtogroup Navigation
* @brief setups RTH/PH and other pathfollower/pathplanner status
* @{
*
* @file plan.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <plans.h>
#include <pios.h>
#include <attitudesettings.h>
#include <takeofflocation.h>
#include <pathdesired.h>
#include <positionstate.h>
#include <flightmodesettings.h>
/**
* @brief initialize UAVOs and structs used by this library
*/
void plan_initialize()
{
TakeOffLocationInitialize();
PositionStateInitialize();
PathDesiredInitialize();
FlightModeSettingsInitialize();
}
/**
* @brief setup pathplanner/pathfollower for positionhold
*/
void plan_setup_positionHold()
{
PositionStateData positionState;
PositionStateGet(&positionState);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
pathDesired.Start.North = positionState.North;
pathDesired.Start.East = positionState.East;
pathDesired.Start.Down = positionState.Down;
pathDesired.End.North = positionState.North;
pathDesired.End.East = positionState.East;
pathDesired.End.Down = positionState.Down;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
PathDesiredSet(&pathDesired);
}
/**
* @brief setup pathplanner/pathfollower for return to base
*/
void plan_setup_returnToBase()
{
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
float positionStateDown;
PositionStateDownGet(&positionStateDown);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
TakeOffLocationData takeoffLocation;
TakeOffLocationGet(&takeoffLocation);
// TODO: right now VTOLPF does fly straight to destination altitude.
// For a safer RTB destination altitude will be the higher between takeofflocation and current position (corrected with safety margin)
float destDown;
FlightModeSettingsReturnToBaseAltitudeOffsetGet(&destDown);
destDown -= MIN(positionStateDown, takeoffLocation.Down);
pathDesired.Start.North = takeoffLocation.North;
pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = destDown;
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
pathDesired.End.Down = destDown;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
PathDesiredSet(&pathDesired);
}
void plan_setup_land()
{
plan_setup_positionHold();
}
/**
* @brief execute land
*/
void plan_run_land()
{
PathDesiredEndData pathDesiredEnd;
PathDesiredEndGet(&pathDesiredEnd);
PositionStateDownGet(&pathDesiredEnd.Down);
pathDesiredEnd.Down += 5;
PathDesiredEndSet(&pathDesiredEnd);
}

70
flight/modules/ManualControl/pathfollowerhandler.c
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@ -34,10 +34,10 @@
#include <flightstatus.h>
#include <positionstate.h>
#include <flightmodesettings.h>
#include <pios_math.h>
#if defined(REVOLUTION)
#include <takeofflocation.h>
#include <plans.h>
// Private constants
// Private types
@ -52,56 +52,30 @@
void pathFollowerHandler(bool newinit)
{
if (newinit) {
PathDesiredInitialize();
PositionStateInitialize();
plan_initialize();
}
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t flightMode;
FlightStatusFlightModeGet(&flightMode);
if (newinit) {
// After not being in this mode for a while init at current height
PositionStateData positionState;
PositionStateGet(&positionState);
FlightModeSettingsData settings;
FlightModeSettingsGet(&settings);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
TakeOffLocationData takeoffLocation;
TakeOffLocationGet(&takeoffLocation);
switch (flightStatus.FlightMode) {
switch (flightMode) {
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
{
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
plan_setup_returnToBase();
break;
// TODO: right now VTOLPF does fly straight to destination altitude.
// For a safer RTB destination altitude will be the higher between takeofflocation and current position (corrected with safety margin)
float destDown = MIN(positionState.Down, takeoffLocation.Down) - settings.ReturnToBaseAltitudeOffset;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
plan_setup_positionHold();
break;
pathDesired.Start.North = takeoffLocation.North;
pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = destDown;
case FLIGHTSTATUS_FLIGHTMODE_LAND:
plan_setup_land();
break;
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
pathDesired.End.Down = destDown;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
}
break;
default:
plan_setup_positionHold();
pathDesired.Start.North = positionState.North;
pathDesired.Start.East = positionState.East;
pathDesired.Start.Down = positionState.Down;
pathDesired.End.North = positionState.North;
pathDesired.End.East = positionState.East;
pathDesired.End.Down = positionState.Down;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
/* Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
} else {
PathDesiredData pathDesired;
@ -113,17 +87,15 @@ void pathFollowerHandler(bool newinit)
*/
break;
}
PathDesiredSet(&pathDesired);
}
switch (flightMode) {
// special handling of autoland - behaves like positon hold but with slow altitude decrease
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
PositionStateData positionState;
PositionStateGet(&positionState);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
pathDesired.End.Down = positionState.Down + 5;
PathDesiredSet(&pathDesired);
case FLIGHTSTATUS_FLIGHTMODE_LAND:
plan_run_land();
break;
default:
break;
}
}

18
flight/modules/PathPlanner/pathplanner.c
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@ -45,6 +45,7 @@
#include "flightmodesettings.h"
#include <pios_struct_helper.h>
#include "paths.h"
#include "plans.h"
// Private constants
#define STACK_SIZE_BYTES 1024
@ -89,6 +90,7 @@ static bool pathplanner_active = false;
*/
int32_t PathPlannerStart()
{
plan_initialize();
// when the active waypoint changes, update pathDesired
WaypointConnectCallback(commandUpdated);
WaypointActiveConnectCallback(commandUpdated);
@ -169,21 +171,7 @@ static void pathPlannerTask()
if (!failsafeRTHset) {
failsafeRTHset = 1;
// copy pasta: same calculation as in manualcontrol, set return to home coordinates
PositionStateData positionState;
PositionStateGet(&positionState);
FlightModeSettingsData settings;
FlightModeSettingsGet(&settings);
pathDesired.Start.North = 0;
pathDesired.Start.East = 0;
pathDesired.Start.Down = positionState.Down - settings.ReturnToBaseAltitudeOffset;
pathDesired.End.North = 0;
pathDesired.End.East = 0;
pathDesired.End.Down = positionState.Down - settings.ReturnToBaseAltitudeOffset;
pathDesired.StartingVelocity = 1;
pathDesired.EndingVelocity = 0;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
PathDesiredSet(&pathDesired);
plan_setup_positionHold();
}
AlarmsSet(SYSTEMALARMS_ALARM_PATHPLAN, SYSTEMALARMS_ALARM_ERROR);

1
flight/targets/boards/discoveryf4bare/firmware/Makefile
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@ -82,6 +82,7 @@ ifndef TESTAPP
## Misc library functions
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/plans.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c

1
flight/targets/boards/revolution/firmware/Makefile
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@ -84,6 +84,7 @@ ifndef TESTAPP
## Misc library functions
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/plans.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c

1
flight/targets/boards/revoproto/firmware/Makefile
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@ -83,6 +83,7 @@ ifndef TESTAPP
## Misc library functions
SRC += $(FLIGHTLIB)/paths.c
SRC += $(FLIGHTLIB)/plans.c
SRC += $(FLIGHTLIB)/WorldMagModel.c
SRC += $(FLIGHTLIB)/insgps13state.c