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Code Issues Releases Activity

OP-1156 fix path logic to not deviate from correct altitude too much

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This commit is contained in:
Corvus Corax 2014-08-15 17:56:57 +02:00
parent 09e8b38407
commit b562fcb02e
6 changed files with 119 additions and 185 deletions
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6
flight/libraries/inc/paths.h
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@ -30,10 +30,10 @@
struct path_status { struct path_status {
float fractional_progress; float fractional_progress;
float error; float error;
float correction_direction[3]; float path_vector[3];
float path_direction[3]; float correction_vector[3];
}; };
void path_progress(float *start_point, float *end_point, float *cur_point, struct path_status *status, uint8_t mode); void path_progress(PathDesiredData *path, float *cur_point, struct path_status *status);
#endif #endif

182
flight/libraries/paths.c
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@ -28,54 +28,51 @@
#include <pios_math.h> #include <pios_math.h>
#include <mathmisc.h> #include <mathmisc.h>
#include "paths.h"
#include "uavobjectmanager.h" // <--. #include "uavobjectmanager.h" // <--.
#include "pathdesired.h" // <-- needed only for correct ENUM macro usage with path modes (PATHDESIRED_MODE_xxx, #include "pathdesired.h" // <-- needed only for correct ENUM macro usage with path modes (PATHDESIRED_MODE_xxx,
#include "paths.h"
// no direct UAVObject usage allowed in this file // no direct UAVObject usage allowed in this file
// private functions // private functions
static void path_endpoint(float *start_point, float *end_point, float *cur_point, struct path_status *status, bool mode); static void path_endpoint(PathDesiredData *path, float *cur_point, struct path_status *status, bool mode);
static void path_vector(float *start_point, float *end_point, float *cur_point, struct path_status *status, bool mode); static void path_vector(PathDesiredData *path, float *cur_point, struct path_status *status, bool mode);
static void path_circle(float *start_point, float *end_point, float *cur_point, struct path_status *status, bool clockwise); static void path_circle(PathDesiredData *path, float *cur_point, struct path_status *status, bool clockwise);
/** /**
* @brief Compute progress along path and deviation from it * @brief Compute progress along path and deviation from it
* @param[in] start_point Starting point * @param[in] path PathDesired structure
* @param[in] end_point Ending point
* @param[in] cur_point Current location * @param[in] cur_point Current location
* @param[in] mode Path following mode
* @param[out] status Structure containing progress along path and deviation * @param[out] status Structure containing progress along path and deviation
*/ */
void path_progress(float *start_point, float *end_point, float *cur_point, struct path_status *status, uint8_t mode) void path_progress(PathDesiredData *path, float *cur_point, struct path_status *status)
{ {
switch (mode) { switch (path->Mode) {
case PATHDESIRED_MODE_FLYVECTOR: case PATHDESIRED_MODE_FLYVECTOR:
return path_vector(start_point, end_point, cur_point, status, true); return path_vector(path, cur_point, status, true);
break; break;
case PATHDESIRED_MODE_DRIVEVECTOR: case PATHDESIRED_MODE_DRIVEVECTOR:
return path_vector(start_point, end_point, cur_point, status, false); return path_vector(path, cur_point, status, false);
break; break;
case PATHDESIRED_MODE_FLYCIRCLERIGHT: case PATHDESIRED_MODE_FLYCIRCLERIGHT:
case PATHDESIRED_MODE_DRIVECIRCLERIGHT: case PATHDESIRED_MODE_DRIVECIRCLERIGHT:
return path_circle(start_point, end_point, cur_point, status, 1); return path_circle(path, cur_point, status, 1);
break; break;
case PATHDESIRED_MODE_FLYCIRCLELEFT: case PATHDESIRED_MODE_FLYCIRCLELEFT:
case PATHDESIRED_MODE_DRIVECIRCLELEFT: case PATHDESIRED_MODE_DRIVECIRCLELEFT:
return path_circle(start_point, end_point, cur_point, status, 0); return path_circle(path, cur_point, status, 0);
break; break;
case PATHDESIRED_MODE_FLYENDPOINT: case PATHDESIRED_MODE_FLYENDPOINT:
return path_endpoint(start_point, end_point, cur_point, status, true); return path_endpoint(path, cur_point, status, true);
break; break;
case PATHDESIRED_MODE_DRIVEENDPOINT: case PATHDESIRED_MODE_DRIVEENDPOINT:
default: default:
// use the endpoint as default failsafe if called in unknown modes // use the endpoint as default failsafe if called in unknown modes
return path_endpoint(start_point, end_point, cur_point, status, false); return path_endpoint(path, cur_point, status, false);
break; break;
} }
@ -83,127 +80,120 @@ void path_progress(float *start_point, float *end_point, float *cur_point, struc
/** /**
* @brief Compute progress towards endpoint. Deviation equals distance * @brief Compute progress towards endpoint. Deviation equals distance
* @param[in] start_point Starting point * @param[in] path PathDesired
* @param[in] end_point Ending point
* @param[in] cur_point Current location * @param[in] cur_point Current location
* @param[out] status Structure containing progress along path and deviation * @param[out] status Structure containing progress along path and deviation
* @param[in] mode3D set true to include altitude in distance and progress calculation * @param[in] mode3D set true to include altitude in distance and progress calculation
*/ */
static void path_endpoint(float *start_point, float *end_point, float *cur_point, struct path_status *status, bool mode3D) static void path_endpoint(PathDesiredData *path, float *cur_point, struct path_status *status, bool mode3D)
{ {
float path[3], diff[3]; float diff[3];
float dist_path, dist_diff; float dist_path, dist_diff;
// we do not correct in this mode
status->correction_direction[0] = status->correction_direction[1] = status->correction_direction[2] = 0;
// Distance to go // Distance to go
path[0] = end_point[0] - start_point[0]; status->path_vector[0] = path->End.North - path->Start.North;
path[1] = end_point[1] - start_point[1]; status->path_vector[1] = path->End.East - path->Start.East;
path[2] = mode3D ? end_point[2] - start_point[2] : 0; status->path_vector[2] = mode3D ? path->End.Down - path->Start.Down : 0.0f;
// Current progress location relative to end // Current progress location relative to end
diff[0] = end_point[0] - cur_point[0]; diff[0] = path->End.North - cur_point[0];
diff[1] = end_point[1] - cur_point[1]; diff[1] = path->End.East - cur_point[1];
diff[2] = mode3D ? end_point[2] - cur_point[2] : 0; diff[2] = mode3D ? path->End.Down - cur_point[2] : 0.0f;
dist_diff = vector_lengthf(diff, 3); dist_diff = vector_lengthf(diff, 3);
dist_path = vector_lengthf(path, 3); dist_path = vector_lengthf(status->path_vector, 3);
if (dist_diff < 1e-6f) { if (dist_diff < 1e-6f) {
status->fractional_progress = 1; status->fractional_progress = 1;
status->error = 0; status->error = 0.0f;
status->path_direction[0] = status->path_direction[1] = 0; status->correction_vector[0] = status->correction_vector[1] = status->correction_vector[2] = 0.0f;
status->path_direction[2] = 0; // we have no base movement direction in this mode
status->path_vector[0] = status->path_vector[1] = status->path_vector[2] = 0.0f;
return; return;
} }
if (dist_path + 1 > dist_diff) { if (fmaxf(dist_path, 1.0f) > dist_diff) {
status->fractional_progress = 1 - dist_diff / (1 + dist_path); status->fractional_progress = 1 - dist_diff / fmaxf(dist_path, 1.0f);
} else { } else {
status->fractional_progress = 0; // we don't want fractional_progress to become negative status->fractional_progress = 0; // we don't want fractional_progress to become negative
} }
status->error = dist_diff; status->error = dist_diff;
// Compute direction to travel // Compute correction vector
status->path_direction[0] = diff[0] / dist_diff; status->correction_vector[0] = diff[0];
status->path_direction[1] = diff[1] / dist_diff; status->correction_vector[1] = diff[1];
status->path_direction[2] = diff[2] / dist_diff; status->correction_vector[2] = diff[2];
// base movement direction in this mode is a constant velocity offset on top of correction in the same direction
status->path_vector[0] = path->EndingVelocity * status->correction_vector[0] / dist_diff;
status->path_vector[1] = path->EndingVelocity * status->correction_vector[1] / dist_diff;
status->path_vector[2] = path->EndingVelocity * status->correction_vector[2] / dist_diff;
} }
/** /**
* @brief Compute progress along path and deviation from it * @brief Compute progress along path and deviation from it
* @param[in] start_point Starting point * @param[in] path PathDesired
* @param[in] end_point Ending point
* @param[in] cur_point Current location * @param[in] cur_point Current location
* @param[out] status Structure containing progress along path and deviation * @param[out] status Structure containing progress along path and deviation
* @param[in] mode3D set true to include altitude in distance and progress calculation * @param[in] mode3D set true to include altitude in distance and progress calculation
*/ */
static void path_vector(float *start_point, float *end_point, float *cur_point, struct path_status *status, bool mode3D) static void path_vector(PathDesiredData *path, float *cur_point, struct path_status *status, bool mode3D)
{ {
float path[3], diff[3]; float diff[3];
float dist_path; float dist_path;
float dot; float dot;
float velocity;
float track_point[3]; float track_point[3];
// Distance to go // Distance to go
path[0] = end_point[0] - start_point[0]; status->path_vector[0] = path->End.North - path->Start.North;
path[1] = end_point[1] - start_point[1]; status->path_vector[1] = path->End.East - path->Start.East;
path[2] = mode3D ? end_point[2] - start_point[2] : 0; status->path_vector[2] = mode3D ? path->End.Down - path->Start.Down : 0.0f;
// Current progress location relative to start // Current progress location relative to start
diff[0] = cur_point[0] - start_point[0]; diff[0] = cur_point[0] - path->Start.North;
diff[1] = cur_point[1] - start_point[1]; diff[1] = cur_point[1] - path->Start.East;
diff[2] = mode3D ? cur_point[2] - start_point[2] : 0; diff[2] = mode3D ? cur_point[2] - path->Start.Down : 0.0f;
dot = path[0] * diff[0] + path[1] * diff[1] + path[2] * diff[2]; dot = status->path_vector[0] * diff[0] + status->path_vector[1] * diff[1] + status->path_vector[2] * diff[2];
dist_path = vector_lengthf(path, 3); dist_path = vector_lengthf(status->path_vector, 3);
if (dist_path > 1e-6f) { if (dist_path > 1e-6f) {
// Compute direction to travel & progress // Compute direction to travel & progress
status->path_direction[0] = path[0] / dist_path;
status->path_direction[1] = path[1] / dist_path;
status->path_direction[2] = path[2] / dist_path;
status->fractional_progress = dot / (dist_path * dist_path); status->fractional_progress = dot / (dist_path * dist_path);
} else { } else {
// Fly towards the endpoint to prevent flying away, // Fly towards the endpoint to prevent flying away,
// but assume progress=1 either way. // but assume progress=1 either way.
path_endpoint(start_point, end_point, cur_point, status, mode3D); path_endpoint(path, cur_point, status, mode3D);
status->fractional_progress = 1; status->fractional_progress = 1;
return; return;
} }
// Compute point on track that is closest to our current position. // Compute point on track that is closest to our current position.
track_point[0] = status->fractional_progress * path[0] + start_point[0]; track_point[0] = status->fractional_progress * status->path_vector[0] + path->Start.North;
track_point[1] = status->fractional_progress * path[1] + start_point[1]; track_point[1] = status->fractional_progress * status->path_vector[1] + path->Start.East;
track_point[2] = status->fractional_progress * path[2] + start_point[2]; track_point[2] = status->fractional_progress * status->path_vector[2] + path->Start.Down;
status->correction_direction[0] = track_point[0] - cur_point[0]; status->correction_vector[0] = track_point[0] - cur_point[0];
status->correction_direction[1] = track_point[1] - cur_point[1]; status->correction_vector[1] = track_point[1] - cur_point[1];
status->correction_direction[2] = track_point[2] - cur_point[2]; status->correction_vector[2] = track_point[2] - cur_point[2];
status->error = vector_lengthf(status->correction_direction, 3); status->error = vector_lengthf(status->correction_vector, 3);
// Normalize correction_direction but avoid division by zero // correct movement vector to current velocity
if (status->error > 1e-6f) { velocity = path->StartingVelocity + boundf(status->fractional_progress, 0.0f, 1.0f) * (path->EndingVelocity - path->StartingVelocity);
status->correction_direction[0] /= status->error; status->path_vector[0] = velocity * status->path_vector[0] / dist_path;
status->correction_direction[1] /= status->error; status->path_vector[1] = velocity * status->path_vector[1] / dist_path;
status->correction_direction[2] /= status->error; status->path_vector[2] = velocity * status->path_vector[2] / dist_path;
} else {
status->correction_direction[0] = 0;
status->correction_direction[1] = 0;
status->correction_direction[2] = 0;
}
} }
/** /**
* @brief Compute progress along circular path and deviation from it * @brief Compute progress along circular path and deviation from it
* @param[in] start_point Starting point * @param[in] path PathDesired
* @param[in] end_point Center point
* @param[in] cur_point Current location * @param[in] cur_point Current location
* @param[out] status Structure containing progress along path and deviation * @param[out] status Structure containing progress along path and deviation
*/ */
static void path_circle(float *start_point, float *end_point, float *cur_point, struct path_status *status, bool clockwise) static void path_circle(PathDesiredData *path, float *cur_point, struct path_status *status, bool clockwise)
{ {
float radius_north, radius_east, diff_north, diff_east, diff_down; float radius_north, radius_east, diff_north, diff_east, diff_down;
float radius, cradius; float radius, cradius;
@ -212,30 +202,30 @@ static void path_circle(float *start_point, float *end_point, float *cur_point,
float a_diff, a_radius; float a_diff, a_radius;
// Radius // Radius
radius_north = end_point[0] - start_point[0]; radius_north = path->End.North - path->Start.North;
radius_east = end_point[1] - start_point[1]; radius_east = path->End.East - path->Start.East;
// Current location relative to center // Current location relative to center
diff_north = cur_point[0] - end_point[0]; diff_north = cur_point[0] - path->End.North;
diff_east = cur_point[1] - end_point[1]; diff_east = cur_point[1] - path->End.East;
diff_down = cur_point[2] - end_point[2]; diff_down = cur_point[2] - path->End.Down;
radius = sqrtf(squaref(radius_north) + squaref(radius_east)); radius = sqrtf(squaref(radius_north) + squaref(radius_east));
cradius = sqrtf(squaref(diff_north) + squaref(diff_east)); cradius = sqrtf(squaref(diff_north) + squaref(diff_east));
// circles are always horizontal (for now - TODO: allow 3d circles - problem: clockwise/counterclockwise does no longer apply) // circles are always horizontal (for now - TODO: allow 3d circles - problem: clockwise/counterclockwise does no longer apply)
status->path_direction[2] = 0.0f; status->path_vector[2] = 0.0f;
// error is current radius minus wanted radius - positive if too close // error is current radius minus wanted radius - positive if too close
status->error = radius - cradius; status->error = radius - cradius;
if (cradius < 1e-6f) { if (cradius < 1e-6f) {
// cradius is zero, just fly somewhere and make sure correction is still a normal // cradius is zero, just fly somewhere
status->fractional_progress = 1; status->fractional_progress = 1;
status->correction_direction[0] = 0; status->correction_vector[0] = 0;
status->correction_direction[1] = 1; status->correction_vector[1] = 0;
status->path_direction[0] = 1; status->path_vector[0] = path->EndingVelocity;
status->path_direction[1] = 0; status->path_vector[1] = 0;
} else { } else {
if (clockwise) { if (clockwise) {
// Compute the normal to the radius clockwise // Compute the normal to the radius clockwise
@ -270,20 +260,18 @@ static void path_circle(float *start_point, float *end_point, float *cur_point,
progress = 1.0f - progress; progress = 1.0f - progress;
} }
status->fractional_progress = progress; status->fractional_progress = progress;
// Compute direction to travel // Compute direction to travel
status->path_direction[0] = normal[0]; status->path_vector[0] = normal[0] * path->EndingVelocity;
status->path_direction[1] = normal[1]; status->path_vector[1] = normal[1] * path->EndingVelocity;
// Compute direction to correct error // Compute direction to correct error
status->correction_direction[0] = status->error * diff_north / cradius; status->correction_vector[0] = status->error * diff_north / cradius;
status->correction_direction[1] = status->error * diff_east / cradius; status->correction_vector[1] = status->error * diff_east / cradius;
} }
status->correction_direction[2] = -diff_down; status->correction_vector[2] = -diff_down;
vector_normalizef(status->correction_direction, 3);
status->error = fabs(status->error); status->error = fabs(status->error);
} }

19
flight/libraries/plans.c
View File

@ -70,8 +70,6 @@ void plan_setup_positionHold()
FlightModeSettingsPositionHoldOffsetData offset; FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset); FlightModeSettingsPositionHoldOffsetGet(&offset);
float startingVelocity;
FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
pathDesired.End.North = positionState.North; pathDesired.End.North = positionState.North;
pathDesired.End.East = positionState.East; pathDesired.End.East = positionState.East;
@ -79,7 +77,7 @@ void plan_setup_positionHold()
pathDesired.Start.North = positionState.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter pathDesired.Start.North = positionState.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = positionState.East; pathDesired.Start.East = positionState.East;
pathDesired.Start.Down = positionState.Down; pathDesired.Start.Down = positionState.Down;
pathDesired.StartingVelocity = startingVelocity; pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f; pathDesired.EndingVelocity = 0.0f;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT; pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
@ -110,8 +108,6 @@ void plan_setup_returnToBase()
destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown; destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown;
FlightModeSettingsPositionHoldOffsetData offset; FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset); FlightModeSettingsPositionHoldOffsetGet(&offset);
float startingVelocity;
FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
pathDesired.End.North = takeoffLocation.North; pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East; pathDesired.End.East = takeoffLocation.East;
@ -121,7 +117,7 @@ void plan_setup_returnToBase()
pathDesired.Start.East = takeoffLocation.East; pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = destDown; pathDesired.Start.Down = destDown;
pathDesired.StartingVelocity = startingVelocity; pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f; pathDesired.EndingVelocity = 0.0f;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT; pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
@ -131,15 +127,12 @@ void plan_setup_returnToBase()
static PiOSDeltatimeConfig landdT; static PiOSDeltatimeConfig landdT;
void plan_setup_land() void plan_setup_land()
{ {
float descendspeed;
plan_setup_positionHold(); plan_setup_positionHold();
FlightModeSettingsLandingVelocityGet(&descendspeed);
PathDesiredData pathDesired; PathDesiredData pathDesired;
PathDesiredGet(&pathDesired); PathDesiredGet(&pathDesired);
pathDesired.StartingVelocity = descendspeed; pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = descendspeed; pathDesired.EndingVelocity = 0.0f;
PathDesiredSet(&pathDesired); PathDesiredSet(&pathDesired);
PIOS_DELTATIME_Init(&landdT, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA); PIOS_DELTATIME_Init(&landdT, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
} }
@ -383,8 +376,6 @@ void plan_setup_AutoCruise()
FlightModeSettingsPositionHoldOffsetData offset; FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset); FlightModeSettingsPositionHoldOffsetGet(&offset);
float startingVelocity;
FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
// initialization is flight in direction of the nose. // initialization is flight in direction of the nose.
// the velocity is not relevant, as it will be reset by the run function even during first call // the velocity is not relevant, as it will be reset by the run function even during first call
@ -404,7 +395,7 @@ void plan_setup_AutoCruise()
pathDesired.Start.North = pathDesired.End.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter pathDesired.Start.North = pathDesired.End.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = pathDesired.End.East; pathDesired.Start.East = pathDesired.End.East;
pathDesired.Start.Down = pathDesired.End.Down; pathDesired.Start.Down = pathDesired.End.Down;
pathDesired.StartingVelocity = startingVelocity; pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f; pathDesired.EndingVelocity = 0.0f;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT; pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;

85
flight/modules/PathFollower/pathfollower.c
View File

@ -53,6 +53,7 @@
#include <CoordinateConversions.h> #include <CoordinateConversions.h>
#include <pios_struct_helper.h> #include <pios_struct_helper.h>
#include <sin_lookup.h> #include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h> #include <paths.h>
#include <sanitycheck.h> #include <sanitycheck.h>
@ -62,7 +63,6 @@
#include <vtolpathfollowersettings.h> #include <vtolpathfollowersettings.h>
#include <flightstatus.h> #include <flightstatus.h>
#include <pathstatus.h> #include <pathstatus.h>
#include <pathdesired.h>
#include <positionstate.h> #include <positionstate.h>
#include <velocitystate.h> #include <velocitystate.h>
#include <velocitydesired.h> #include <velocitydesired.h>
@ -432,12 +432,10 @@ static float updatePathBearing()
positionState.Down }; positionState.Down };
struct path_status progress; struct path_status progress;
path_progress(cast_struct_to_array(pathDesired.Start, pathDesired.Start.North), path_progress(&pathDesired, cur, &progress);
cast_struct_to_array(pathDesired.End, pathDesired.End.North),
cur, &progress, pathDesired.Mode);
// atan2f always returns in between + and - 180 degrees // atan2f always returns in between + and - 180 degrees
float yaw = RAD2DEG(atan2f(progress.path_direction[1], progress.path_direction[0])); float yaw = RAD2DEG(atan2f(progress.path_vector[1], progress.path_vector[0]));
// result is in between 0 and 360 degrees // result is in between 0 and 360 degrees
if (yaw < 0.0f) { if (yaw < 0.0f) {
yaw += 360.0f; yaw += 360.0f;
@ -581,40 +579,13 @@ static void updatePathVelocity(float kFF, float kH, float kV, bool limited)
positionState.Down + (velocityState.Down * kFF) }; positionState.Down + (velocityState.Down * kFF) };
struct path_status progress; struct path_status progress;
path_progress(cast_struct_to_array(pathDesired.Start, pathDesired.Start.North), path_progress(&pathDesired, cur, &progress);
cast_struct_to_array(pathDesired.End, pathDesired.End.North),
cur, &progress, pathDesired.Mode);
float groundspeed;
switch (pathDesired.Mode) {
case PATHDESIRED_MODE_FLYCIRCLERIGHT:
case PATHDESIRED_MODE_DRIVECIRCLERIGHT:
case PATHDESIRED_MODE_FLYCIRCLELEFT:
case PATHDESIRED_MODE_DRIVECIRCLELEFT:
groundspeed = pathDesired.EndingVelocity;
break;
case PATHDESIRED_MODE_FLYENDPOINT:
case PATHDESIRED_MODE_DRIVEENDPOINT:
case PATHDESIRED_MODE_FLYVECTOR:
case PATHDESIRED_MODE_DRIVEVECTOR:
default:
groundspeed = pathDesired.StartingVelocity + (pathDesired.EndingVelocity - pathDesired.StartingVelocity) *
boundf(progress.fractional_progress, 0.0f, 1.0f);
break;
}
// make sure groundspeed is not zero
if (limited && groundspeed < 1e-6f) {
groundspeed = 1e-6f;
}
// calculate velocity - can be zero if waypoints are too close // calculate velocity - can be zero if waypoints are too close
VelocityDesiredData velocityDesired; VelocityDesiredData velocityDesired;
velocityDesired.North = progress.path_direction[0]; velocityDesired.North = progress.path_vector[0];
velocityDesired.East = progress.path_direction[1]; velocityDesired.East = progress.path_vector[1];
velocityDesired.Down = progress.path_direction[2]; velocityDesired.Down = progress.path_vector[2];
float error_speed_horizontal = progress.error * kH;
float error_speed_vertical = progress.error * kV;
if (limited && if (limited &&
// if a plane is crossing its desired flightpath facing the wrong way (away from flight direction) // if a plane is crossing its desired flightpath facing the wrong way (away from flight direction)
@ -629,39 +600,27 @@ static void updatePathVelocity(float kFF, float kH, float kV, bool limited)
// difference between path_direction and velocitystate >90 degrees ( 4th sector, facing away from everything ) // 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) // fix: ignore correction, steer in path direction until the situation has become better (condition doesn't apply anymore)
// calculating angles < 90 degrees through dot products // calculating angles < 90 degrees through dot products
((progress.path_direction[0] * velocityState.North + progress.path_direction[1] * velocityState.East + progress.path_direction[2] * velocityState.Down) < 0.0f) && (vector_lengthf(progress.path_vector, 2) > 1e-6f) &&
((progress.correction_direction[0] * velocityState.North + progress.correction_direction[1] * velocityState.East + progress.correction_direction[2] * velocityState.Down) < 0.0f)) { ((progress.path_vector[0] * velocityState.North + progress.path_vector[1] * velocityState.East) < 0.0f) &&
error_speed_horizontal = 0.0f; ((progress.correction_vector[0] * velocityState.North + progress.correction_vector[1] * velocityState.East) < 0.0f)) {
error_speed_vertical = 0.0f; ;
}
// calculate correction - can also be zero if correction vector is 0 or no error present
velocityDesired.North += progress.correction_direction[0] * error_speed_horizontal;
velocityDesired.East += progress.correction_direction[1] * error_speed_horizontal;
velocityDesired.Down += progress.correction_direction[2] * error_speed_vertical;
// scale to correct length
float l = sqrtf(velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East + velocityDesired.Down * velocityDesired.Down);
if (l > 1e-9f) {
velocityDesired.North *= groundspeed / l;
velocityDesired.East *= groundspeed / l;
velocityDesired.Down *= groundspeed / l;
} else { } else {
velocityDesired.North = 0.0f; // calculate correction
velocityDesired.East = 0.0f; velocityDesired.North += progress.correction_vector[0] * kH;
velocityDesired.Down = 0.0f; velocityDesired.East += progress.correction_vector[1] * kH;
} }
velocityDesired.Down += progress.correction_vector[2] * kV;
// update pathstatus // update pathstatus
pathStatus.error = progress.error; pathStatus.error = progress.error;
pathStatus.fractional_progress = progress.fractional_progress; pathStatus.fractional_progress = progress.fractional_progress;
pathStatus.path_direction_north = progress.path_direction[0]; pathStatus.path_direction_north = progress.path_vector[0];
pathStatus.path_direction_east = progress.path_direction[1]; pathStatus.path_direction_east = progress.path_vector[1];
pathStatus.path_direction_down = progress.path_direction[2]; pathStatus.path_direction_down = progress.path_vector[2];
pathStatus.correction_direction_north = progress.correction_direction[0]; pathStatus.correction_direction_north = progress.correction_vector[0];
pathStatus.correction_direction_east = progress.correction_direction[1]; pathStatus.correction_direction_east = progress.correction_vector[1];
pathStatus.correction_direction_down = progress.correction_direction[2]; pathStatus.correction_direction_down = progress.correction_vector[2];
VelocityDesiredSet(&velocityDesired); VelocityDesiredSet(&velocityDesired);
} }

10
flight/modules/PathPlanner/pathplanner.c
View File

@ -525,9 +525,8 @@ static uint8_t conditionLegRemaining()
float cur[3] = { positionState.North, positionState.East, positionState.Down }; float cur[3] = { positionState.North, positionState.East, positionState.Down };
struct path_status progress; struct path_status progress;
path_progress(cast_struct_to_array(pathDesired.Start, pathDesired.Start.North), path_progress(&pathDesired,
cast_struct_to_array(pathDesired.End, pathDesired.End.North), cur, &progress);
cur, &progress, pathDesired.Mode);
if (progress.fractional_progress >= 1.0f - pathAction.ConditionParameters[0]) { if (progress.fractional_progress >= 1.0f - pathAction.ConditionParameters[0]) {
return true; return true;
} }
@ -550,9 +549,8 @@ static uint8_t conditionBelowError()
float cur[3] = { positionState.North, positionState.East, positionState.Down }; float cur[3] = { positionState.North, positionState.East, positionState.Down };
struct path_status progress; struct path_status progress;
path_progress(cast_struct_to_array(pathDesired.Start, pathDesired.Start.North), path_progress(&pathDesired,
cast_struct_to_array(pathDesired.End, pathDesired.End.North), cur, &progress);
cur, &progress, pathDesired.Mode);
if (progress.error <= pathAction.ConditionParameters[0]) { if (progress.error <= pathAction.ConditionParameters[0]) {
return true; return true;
} }

2
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -114,8 +114,6 @@
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/> <field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
<!-- optimized for current vtolpathfollower, <!-- optimized for current vtolpathfollower,
for fixed wing pathfollower set to Horizontal=500,Vertical=5 --> for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->
<field name="PositionHoldStartingVelocity" units="m/s" type="float" elements="1" defaultvalue="20"/>
<!-- currently ignored by vtolpathfollower -->
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>