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505 lines
15 KiB
C
505 lines
15 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathPlanner Path Planner Module
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* @brief Executes a series of waypoints
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* @{
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*
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* @file pathplanner.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Executes a series of waypoints
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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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#include "openpilot.h"
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#include "paths.h"
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#include "flightstatus.h"
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#include "airspeedactual.h"
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#include "pathaction.h"
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#include "pathdesired.h"
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#include "pathstatus.h"
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#include "positionactual.h"
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#include "velocityactual.h"
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#include "waypoint.h"
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#include "waypointactive.h"
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// Private constants
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#define STACK_SIZE_BYTES 1024
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#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
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#define MAX_QUEUE_SIZE 2
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#define F_PI 3.141526535897932f
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#define RAD2DEG (180.0f/F_PI)
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#define PATH_PLANNER_UPDATE_RATE_MS 20
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// Private types
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// Private functions
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static void pathPlannerTask(void *parameters);
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static void updatePathDesired(UAVObjEvent * ev);
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static void setWaypoint(uint16_t num);
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static uint8_t pathConditionCheck();
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static uint8_t conditionNone();
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static uint8_t conditionTimeOut();
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static uint8_t conditionDistanceToTarget();
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static uint8_t conditionLegRemaining();
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static uint8_t conditionBelowError();
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static uint8_t conditionAboveAltitude();
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static uint8_t conditionAboveSpeed();
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static uint8_t conditionPointingTowardsNext();
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static uint8_t conditionPythonScript();
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static uint8_t conditionImmediate();
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// Private variables
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static xTaskHandle taskHandle;
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static WaypointActiveData waypointActive;
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static WaypointData waypoint;
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static PathActionData pathAction;
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static bool pathplanner_active = false;
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/**
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* Module initialization
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*/
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int32_t PathPlannerStart()
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{
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taskHandle = NULL;
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// Start VM thread
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xTaskCreate(pathPlannerTask, (signed char *)"PathPlanner", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_PATHPLANNER, taskHandle);
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return 0;
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}
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/**
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* Module initialization
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*/
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int32_t PathPlannerInitialize()
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{
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taskHandle = NULL;
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PathActionInitialize();
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PathStatusInitialize();
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PathDesiredInitialize();
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PositionActualInitialize();
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AirspeedActualInitialize();
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VelocityActualInitialize();
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WaypointInitialize();
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WaypointActiveInitialize();
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return 0;
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}
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MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart)
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/**
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* Module task
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*/
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static void pathPlannerTask(void *parameters)
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{
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// when the active waypoint changes, update pathDesired
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WaypointConnectCallback(updatePathDesired);
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WaypointActiveConnectCallback(updatePathDesired);
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PathActionConnectCallback(updatePathDesired);
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FlightStatusData flightStatus;
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PathDesiredData pathDesired;
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PathStatusData pathStatus;
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// Main thread loop
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bool endCondition = false;
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while (1)
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{
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vTaskDelay(PATH_PLANNER_UPDATE_RATE_MS);
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FlightStatusGet(&flightStatus);
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if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) {
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pathplanner_active = false;
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continue;
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}
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WaypointActiveGet(&waypointActive);
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if(pathplanner_active == false) {
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pathplanner_active = true;
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// This triggers callback to update variable
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waypointActive.Index = 0;
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WaypointActiveSet(&waypointActive);
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continue;
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}
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WaypointInstGet(waypointActive.Index,&waypoint);
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PathActionInstGet(waypoint.Action, &pathAction);
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PathStatusGet(&pathStatus);
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PathDesiredGet(&pathDesired);
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// delay next step until path follower has acknowledged the path mode
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if (pathStatus.UID != pathDesired.UID) {
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continue;
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}
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// negative destinations DISABLE this feature
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if (pathStatus.Status == PATHSTATUS_STATUS_CRITICAL && waypointActive.Index != pathAction.ErrorDestination && pathAction.ErrorDestination >= 0) {
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setWaypoint(pathAction.ErrorDestination);
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continue;
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}
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// check if condition has been met
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endCondition = pathConditionCheck();
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// decide what to do
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switch (pathAction.Command) {
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case PATHACTION_COMMAND_ONNOTCONDITIONNEXTWAYPOINT:
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endCondition = !endCondition;
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case PATHACTION_COMMAND_ONCONDITIONNEXTWAYPOINT:
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if (endCondition) setWaypoint(waypointActive.Index+1);
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break;
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case PATHACTION_COMMAND_ONNOTCONDITIONJUMPWAYPOINT:
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endCondition = !endCondition;
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case PATHACTION_COMMAND_ONCONDITIONJUMPWAYPOINT:
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if (endCondition) {
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if (pathAction.JumpDestination<0) {
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// waypoint ids <0 code relative jumps
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setWaypoint(waypointActive.Index - pathAction.JumpDestination );
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} else {
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setWaypoint(pathAction.JumpDestination);
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}
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}
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break;
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case PATHACTION_COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT:
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if (endCondition) {
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if (pathAction.JumpDestination<0) {
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// waypoint ids <0 code relative jumps
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setWaypoint(waypointActive.Index - pathAction.JumpDestination );
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} else {
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setWaypoint(pathAction.JumpDestination);
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}
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} else {
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setWaypoint(waypointActive.Index+1);
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}
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break;
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}
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}
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}
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// callback function when waypoints changed in any way, update pathDesired
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void updatePathDesired(UAVObjEvent * ev) {
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// only ever touch pathDesired if pathplanner is enabled
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if (!pathplanner_active) return;
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// use local variables, dont use stack since this is huge and a callback,
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// dont use the globals because we cant use mutexes here
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static WaypointActiveData waypointActive;
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static PathActionData pathAction;
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static WaypointData waypoint;
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static PathDesiredData pathDesired;
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// find out current waypoint
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WaypointActiveGet(&waypointActive);
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WaypointInstGet(waypointActive.Index,&waypoint);
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PathActionInstGet(waypoint.Action, &pathAction);
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pathDesired.End[PATHDESIRED_END_NORTH] = waypoint.Position[WAYPOINT_POSITION_NORTH];
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pathDesired.End[PATHDESIRED_END_EAST] = waypoint.Position[WAYPOINT_POSITION_EAST];
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pathDesired.End[PATHDESIRED_END_DOWN] = waypoint.Position[WAYPOINT_POSITION_DOWN];
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pathDesired.EndingVelocity = waypoint.Velocity;
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pathDesired.Mode = pathAction.Mode;
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pathDesired.ModeParameters[0] = pathAction.ModeParameters[0];
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pathDesired.ModeParameters[1] = pathAction.ModeParameters[1];
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pathDesired.ModeParameters[2] = pathAction.ModeParameters[2];
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pathDesired.ModeParameters[3] = pathAction.ModeParameters[3];
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pathDesired.UID = waypointActive.Index;
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if(waypointActive.Index == 0) {
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// First waypoint has itself as start point (used to be home position but that proved dangerous when looping)
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pathDesired.Start[PATHDESIRED_START_NORTH] = waypoint.Position[WAYPOINT_POSITION_NORTH];
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pathDesired.Start[PATHDESIRED_START_EAST] = waypoint.Position[WAYPOINT_POSITION_EAST];
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pathDesired.Start[PATHDESIRED_START_DOWN] = waypoint.Position[WAYPOINT_POSITION_DOWN];
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pathDesired.StartingVelocity = pathDesired.EndingVelocity;
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} else {
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// Get previous waypoint as start point
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WaypointData waypointPrev;
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WaypointInstGet(waypointActive.Index - 1, &waypointPrev);
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pathDesired.Start[PATHDESIRED_END_NORTH] = waypointPrev.Position[WAYPOINT_POSITION_NORTH];
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pathDesired.Start[PATHDESIRED_END_EAST] = waypointPrev.Position[WAYPOINT_POSITION_EAST];
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pathDesired.Start[PATHDESIRED_END_DOWN] = waypointPrev.Position[WAYPOINT_POSITION_DOWN];
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pathDesired.StartingVelocity = waypointPrev.Velocity;
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}
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PathDesiredSet(&pathDesired);
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}
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// helper function to go to a specific waypoint
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static void setWaypoint(uint16_t num) {
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// path plans wrap around
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if (num>=UAVObjGetNumInstances(WaypointHandle())) {
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num = 0;
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}
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waypointActive.Index = num;
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WaypointActiveSet(&waypointActive);
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}
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// execute the apropriate condition and report result
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static uint8_t pathConditionCheck() {
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// i thought about a lookup table, but a switch is saver considering there could be invalid EndCondition ID's
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switch (pathAction.EndCondition) {
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case PATHACTION_ENDCONDITION_NONE:
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return conditionNone();
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break;
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case PATHACTION_ENDCONDITION_TIMEOUT:
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return conditionTimeOut();
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break;
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case PATHACTION_ENDCONDITION_DISTANCETOTARGET:
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return conditionDistanceToTarget();
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break;
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case PATHACTION_ENDCONDITION_LEGREMAINING:
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return conditionLegRemaining();
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break;
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case PATHACTION_ENDCONDITION_BELOWERROR:
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return conditionBelowError();
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break;
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case PATHACTION_ENDCONDITION_ABOVEALTITUDE:
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return conditionAboveAltitude();
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break;
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case PATHACTION_ENDCONDITION_ABOVESPEED:
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return conditionAboveSpeed();
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break;
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case PATHACTION_ENDCONDITION_POINTINGTOWARDSNEXT:
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return conditionPointingTowardsNext();
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break;
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case PATHACTION_ENDCONDITION_PYTHONSCRIPT:
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return conditionPythonScript();
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break;
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case PATHACTION_ENDCONDITION_IMMEDIATE:
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return conditionImmediate();
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break;
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default:
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// invalid endconditions are always true to prevent freezes
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return true;
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break;
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}
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}
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/* the None condition is always false */
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static uint8_t conditionNone() {
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return false;
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}
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/**
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* the Timeout condition measures time this waypoint is active
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* Parameter 0: timeout in seconds
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*/
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static uint8_t conditionTimeOut() {
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static uint16_t toWaypoint;
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static uint32_t toStarttime;
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// reset timer if waypoint changed
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if (waypointActive.Index!=toWaypoint) {
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toWaypoint = waypointActive.Index;
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toStarttime = PIOS_DELAY_GetRaw();
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}
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if (PIOS_DELAY_DiffuS(toStarttime) >= 1e6 * pathAction.ConditionParameters[0]) {
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// make sure we reinitialize even if the same waypoint comes twice
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toWaypoint = 0xFFFF;
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return true;
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}
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return false;
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}
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/**
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* the DistanceToTarget measures distance to a waypoint
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* returns true if closer
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* Parameter 0: distance in meters
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* Parameter 1: flag: 0=2d 1=3d
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*/
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static uint8_t conditionDistanceToTarget() {
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float distance;
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PositionActualData positionActual;
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PositionActualGet(&positionActual);
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if (pathAction.ConditionParameters[1]>0.5f) {
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distance=sqrtf(powf( waypoint.Position[0]-positionActual.North ,2)
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+powf( waypoint.Position[1]-positionActual.East ,2)
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+powf( waypoint.Position[1]-positionActual.Down ,2));
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} else {
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distance=sqrtf(powf( waypoint.Position[0]-positionActual.North ,2)
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+powf( waypoint.Position[1]-positionActual.East ,2));
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}
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if (distance<=pathAction.ConditionParameters[0]) {
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return true;
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}
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return false;
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}
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/**
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* the LegRemaining measures how far the pathfollower got on a linear path segment
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* returns true if closer to destination (path more complete)
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* Parameter 0: relative distance (0= complete, 1= just starting)
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*/
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static uint8_t conditionLegRemaining() {
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PathDesiredData pathDesired;
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PositionActualData positionActual;
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PathDesiredGet(&pathDesired);
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PositionActualGet(&positionActual);
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float cur[3] = {positionActual.North, positionActual.East, positionActual.Down};
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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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if ( progress.fractional_progress >= 1.0f - pathAction.ConditionParameters[0] ) {
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return true;
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}
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return false;
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}
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/**
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* the BelowError measures the error on a path segment
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* returns true if error is below margin
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* Parameter 0: error margin (in m)
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*/
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static uint8_t conditionBelowError() {
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PathDesiredData pathDesired;
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PositionActualData positionActual;
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PathDesiredGet(&pathDesired);
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PositionActualGet(&positionActual);
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float cur[3] = {positionActual.North, positionActual.East, positionActual.Down};
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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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if ( progress.error <= pathAction.ConditionParameters[0] ) {
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return true;
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}
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return false;
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}
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/**
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* the AboveAltitude measures the flight altitude relative to home position
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* returns true if above critical altitude
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* WARNING! Altitudes are always negative (down coordinate)
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* Parameter 0: altitude in meters (negative!)
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*/
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static uint8_t conditionAboveAltitude() {
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PositionActualData positionActual;
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PositionActualGet(&positionActual);
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if (positionActual.Down <= pathAction.ConditionParameters[0]) {
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return true;
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}
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return false;
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}
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/**
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* the AboveSpeed measures the movement speed (3d)
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* returns true if above critical speed
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* Parameter 0: speed in m/s
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* Parameter 1: flag: 0=groundspeed 1=airspeed
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*/
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static uint8_t conditionAboveSpeed() {
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VelocityActualData velocityActual;
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VelocityActualGet(&velocityActual);
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float velocity = sqrtf( velocityActual.North*velocityActual.North + velocityActual.East*velocityActual.East + velocityActual.Down*velocityActual.Down );
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// use airspeed if requested and available
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if (pathAction.ConditionParameters[1]>0.5f) {
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AirspeedActualData airspeed;
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AirspeedActualGet (&airspeed);
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velocity = airspeed.CalibratedAirspeed;
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}
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if ( velocity >= pathAction.ConditionParameters[0]) {
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return true;
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}
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return false;
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}
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/**
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* the PointingTowardsNext measures the horizontal movement vector direction relative to the next waypoint
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* regardless whether this waypoint will ever be active (Command could jump to another one on true)
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* This is useful for curve segments where the craft should stop circling when facing a certain way (usually the next waypoint)
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* returns true if within a certain angular margin
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* Parameter 0: degrees variation allowed
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*/
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static uint8_t conditionPointingTowardsNext() {
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uint16_t nextWaypointId = waypointActive.Index+1;
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if (nextWaypointId>=UAVObjGetNumInstances(WaypointHandle())) {
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nextWaypointId = 0;
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}
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WaypointData nextWaypoint;
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WaypointInstGet(nextWaypointId,&nextWaypoint);
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float angle1 = atan2f((nextWaypoint.Position[0]-waypoint.Position[0]),(nextWaypoint.Position[1]-waypoint.Position[1]));
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VelocityActualData velocity;
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VelocityActualGet (&velocity);
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float angle2 = atan2f(velocity.North,velocity.East);
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// calculate the absolute angular difference
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angle1 = fabsf(RAD2DEG * (angle1 - angle2));
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while (angle1>360) angle1-=360;
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if (angle1 <= pathAction.ConditionParameters[0]) {
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return true;
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}
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return false;
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}
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/**
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* the PythonScript is supposed to read the output of a PyMite program running at the same time
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* and return based on its output, likely read out through some to be defined UAVObject
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* TODO XXX NOT YET IMPLEMENTED
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* returns always true until implemented
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* Parameter 0-3: defined by user script
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*/
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static uint8_t conditionPythonScript() {
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return true;
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}
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/* the immediate condition is always true */
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static uint8_t conditionImmediate() {
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return true;
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}
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/**
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* @}
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* @}
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*/
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