mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
377 lines
14 KiB
C++
377 lines
14 KiB
C++
/*
|
|
******************************************************************************
|
|
*
|
|
* @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 <alarms.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->VerticalVelPID.Kp,
|
|
vtolPathFollowerSettings->VerticalVelPID.Ki,
|
|
vtolPathFollowerSettings->VerticalVelPID.Kd,
|
|
vtolPathFollowerSettings->VerticalVelPID.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_RATE;
|
|
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:
|
|
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
|
|
break;
|
|
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
|
|
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) {
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
|
|
} else {
|
|
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
|
|
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
|
|
}
|
|
|
|
PathStatusSet(pathStatus);
|
|
}
|