/*
******************************************************************************
*
* @file vtolbrakecontroller.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief This landing state machine is a helper state machine to the
* pathfollower task/thread to implement detailed landing controls.
* This is to be called only from the pathfollower task.
* Note that initiation of the land occurs in the manual control
* command thread calling plans.c plan_setup_land which writes
* the required PathDesired LAND mode.
* @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
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <accelstate.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <pathsummary.h>
}
// C++ includes
#include "vtolbrakecontroller.h"
#include "pathfollowerfsm.h"
#include "vtolbrakefsm.h"
#include "pidcontroldown.h"
// Private constants
#define BRAKE_RATE_MINIMUM 0.2f
// pointer to a singleton instance
VtolBrakeController *VtolBrakeController::p_inst = 0;
VtolBrakeController::VtolBrakeController()
: fsm(0), vtolPathFollowerSettings(0), mActive(false), mHoldActive(false), mManualThrust(false)
{}
// Called when mode first engaged
void VtolBrakeController::Activate(void)
{
if (!mActive) {
mActive = true;
mHoldActive = false;
mManualThrust = false;
SettingsUpdated();
fsm->Activate();
controlDown.Activate();
controlNE.Activate();
}
}
uint8_t VtolBrakeController::IsActive(void)
{
return mActive;
}
uint8_t VtolBrakeController::Mode(void)
{
return PATHDESIRED_MODE_BRAKE;
}
// Objective updated in pathdesired
void VtolBrakeController::ObjectiveUpdated(void)
{
// Set the objective's target velocity
controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN]);
controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH],
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST]);
if (pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] > 0.0f) {
pathStatus->path_time = 0.0f;
}
}
void VtolBrakeController::Deactivate(void)
{
if (mActive) {
mActive = false;
mHoldActive = false;
mManualThrust = false;
fsm->Inactive();
controlDown.Deactivate();
controlNE.Deactivate();
}
}
void VtolBrakeController::SettingsUpdated(void)
{
const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
controlNE.UpdateParameters(vtolPathFollowerSettings->BrakeHorizontalVelPID.Kp,
vtolPathFollowerSettings->BrakeHorizontalVelPID.Ki,
vtolPathFollowerSettings->BrakeHorizontalVelPID.Kd,
vtolPathFollowerSettings->BrakeHorizontalVelPID.Beta,
dT,
10.0f * vtolPathFollowerSettings->HorizontalVelMax); // avoid constraining initial fast entry into brake
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->BrakeMaxPitch, vtolPathFollowerSettings->BrakeMaxPitch, vtolPathFollowerSettings->BrakeVelocityFeedforward);
controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
vtolPathFollowerSettings->LandVerticalVelPID.Ki,
vtolPathFollowerSettings->LandVerticalVelPID.Kd,
vtolPathFollowerSettings->LandVerticalVelPID.Beta,
dT,
10.0f * vtolPathFollowerSettings->VerticalVelMax); // avoid constraining initial fast entry into brake
controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
VtolSelfTuningStatsData vtolSelfTuningStats;
VtolSelfTuningStatsGet(&vtolSelfTuningStats);
controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
fsm->SettingsUpdated();
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolBrakeController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
if (fsm == 0) {
VtolBrakeFSM::instance()->Initialize(vtolPathFollowerSettings, pathDesired, flightStatus, pathStatus);
fsm = (PathFollowerFSM *)VtolBrakeFSM::instance();
controlDown.Initialize(fsm);
}
return 0;
}
void VtolBrakeController::UpdateVelocityDesired()
{
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
VelocityDesiredData velocityDesired;
float brakeRate = vtolPathFollowerSettings->BrakeRate;
if (brakeRate < BRAKE_RATE_MINIMUM) {
brakeRate = BRAKE_RATE_MINIMUM; // set a minimum to avoid a divide by zero potential below
}
if (fsm->PositionHoldState()) {
PositionStateData positionState;
PositionStateGet(&positionState);
// On first engagement set the position setpoint
if (!mHoldActive) {
mHoldActive = true;
controlNE.UpdatePositionSetpoint(positionState.North, positionState.East);
if (!mManualThrust) {
controlDown.UpdatePositionSetpoint(positionState.Down);
}
FlightStatusFlightModeAssistOptions flightModeAssist;
FlightStatusFlightModeAssistGet(&flightModeAssist);
if (flightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
// Notify manualcommand via setting hold state in flightstatus assistedcontrolstate
FlightStatusAssistedControlStateOptions assistedControlFlightMode;
FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
// sanity check that we are in brake state according to flight status, which means
// we are being used for gpsassist
if (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE) {
assistedControlFlightMode = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD;
FlightStatusAssistedControlStateSet(&assistedControlFlightMode);
}
}
}
// Update position state and control position to create inputs to velocity control
controlNE.UpdatePositionState(positionState.North, positionState.East);
controlNE.ControlPosition();
if (!mManualThrust) {
controlDown.UpdatePositionState(positionState.Down);
controlDown.ControlPosition();
}
controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
if (!mManualThrust) {
controlDown.UpdateVelocityState(velocityState.Down);
}
} else {
controlNE.UpdateVelocityStateWithBrake(velocityState.North, velocityState.East, pathStatus->path_time, brakeRate);
if (!mManualThrust) {
controlDown.UpdateVelocityStateWithBrake(velocityState.Down, pathStatus->path_time, brakeRate);
}
}
if (!mManualThrust) {
velocityDesired.Down = controlDown.GetVelocityDesired();
} else { velocityDesired.Down = 0.0f; }
float north, east;
controlNE.GetVelocityDesired(&north, &east);
velocityDesired.North = north;
velocityDesired.East = east;
VelocityDesiredSet(&velocityDesired);
// update pathstatus
float cur_velocity = velocityState.North * velocityState.North + velocityState.East * velocityState.East + velocityState.Down * velocityState.Down;
cur_velocity = sqrtf(cur_velocity);
float desired_velocity = velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East + velocityDesired.Down * velocityDesired.Down;
desired_velocity = sqrtf(desired_velocity);
pathStatus->error = cur_velocity - desired_velocity;
pathStatus->fractional_progress = 1.0f;
if (pathDesired->StartingVelocity > 0.0f) {
pathStatus->fractional_progress = (pathDesired->StartingVelocity - cur_velocity) / pathDesired->StartingVelocity;
// sometimes current velocity can exceed starting velocity due to initial acceleration
if (pathStatus->fractional_progress < 0.0f) {
pathStatus->fractional_progress = 0.0f;
}
}
pathStatus->path_direction_north = velocityDesired.North;
pathStatus->path_direction_east = velocityDesired.East;
pathStatus->path_direction_down = velocityDesired.Down;
pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
pathStatus->correction_direction_east = velocityDesired.East - velocityState.East;
}
int8_t VtolBrakeController::UpdateStabilizationDesired(void)
{
uint8_t result = 1;
StabilizationDesiredData stabDesired;
AttitudeStateData attitudeState;
StabilizationBankData stabSettings;
float northCommand;
float eastCommand;
StabilizationDesiredGet(&stabDesired);
AttitudeStateGet(&attitudeState);
StabilizationBankGet(&stabSettings);
controlNE.GetNECommand(&northCommand, &eastCommand);
float angle_radians = DEG2RAD(attitudeState.Yaw);
float cos_angle = cosf(angle_radians);
float sine_angle = sinf(angle_radians);
float maxPitch = vtolPathFollowerSettings->BrakeMaxPitch;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch); // this should be in the controller
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
// default thrust mode to cruise control
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
// when flight mode assist is active but in primary-thrust mode, the thrust mode must be set to the same as per the primary mode.
if (flightStatus->FlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST) {
FlightModeSettingsData settings;
FlightModeSettingsGet(&settings);
uint8_t thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
switch (flightStatus->FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
thrustMode = settings.Stabilization1Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
thrustMode = settings.Stabilization2Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
thrustMode = settings.Stabilization3Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
thrustMode = settings.Stabilization4Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
thrustMode = settings.Stabilization5Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
thrustMode = settings.Stabilization6Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
// is a more appropriate throttle mode. "GPSAssist" adds braking
// and a better throttle management to the standard Position Hold.
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
default:
break;
}
stabDesired.StabilizationMode.Thrust = (StabilizationDesiredStabilizationModeOptions)thrustMode;
}
// set the thrust value
if (mManualThrust) {
stabDesired.Thrust = manualControl.Thrust;
} else {
stabDesired.Thrust = controlDown.GetDownCommand();
}
StabilizationDesiredSet(&stabDesired);
return result;
}
void VtolBrakeController::UpdateAutoPilot()
{
if (pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] > 0.0f) {
pathStatus->path_time += vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
}
if (flightStatus->FlightModeAssist && flightStatus->AssistedThrottleState == FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL) {
mManualThrust = true;
} else {
mManualThrust = false;
}
fsm->Update(); // This will run above end condition checks
UpdateVelocityDesired();
int8_t result = UpdateStabilizationDesired();
if (!result) {
fsm->Abort(); // enter PH
}
PathStatusSet(pathStatus);
}