mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-29 07:24:13 +01:00
262 lines
8.4 KiB
C++
262 lines
8.4 KiB
C++
/*
|
|
******************************************************************************
|
|
*
|
|
* @file vtolbrakefsm.cpp
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
|
* @brief Vtol brake finate state machine to regulate behaviour of the
|
|
* brake controller.
|
|
* @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 <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 <manualcontrolcommand.h>
|
|
#include <systemsettings.h>
|
|
#include <stabilizationbank.h>
|
|
#include <stabilizationdesired.h>
|
|
#include <vtolselftuningstats.h>
|
|
#include <pathsummary.h>
|
|
}
|
|
|
|
// C++ includes
|
|
#include <vtolbrakefsm.h>
|
|
|
|
|
|
// Private constants
|
|
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
|
|
#define BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK 0.95f
|
|
#define BRAKE_EXIT_VELOCITY_LIMIT 0.2f
|
|
|
|
VtolBrakeFSM::PathFollowerFSM_BrakeStateHandler_T VtolBrakeFSM::sBrakeStateTable[BRAKE_STATE_SIZE] = {
|
|
[BRAKE_STATE_INACTIVE] = { .setup = 0, .run = 0 },
|
|
[BRAKE_STATE_BRAKE] = { .setup = &VtolBrakeFSM::setup_brake, .run = &VtolBrakeFSM::run_brake },
|
|
[BRAKE_STATE_HOLD] = { .setup = 0, .run = 0 }
|
|
};
|
|
|
|
// pointer to a singleton instance
|
|
VtolBrakeFSM *VtolBrakeFSM::p_inst = 0;
|
|
|
|
|
|
VtolBrakeFSM::VtolBrakeFSM()
|
|
: mBrakeData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
|
|
{}
|
|
|
|
|
|
// Private types
|
|
|
|
// Private functions
|
|
// Public API methods
|
|
/**
|
|
* Initialise the module, called on startup
|
|
* \returns 0 on success or -1 if initialisation failed
|
|
*/
|
|
int32_t VtolBrakeFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
|
|
PathDesiredData *ptr_pathDesired,
|
|
FlightStatusData *ptr_flightStatus,
|
|
PathStatusData *ptr_pathStatus)
|
|
{
|
|
PIOS_Assert(ptr_vtolPathFollowerSettings);
|
|
PIOS_Assert(ptr_pathDesired);
|
|
PIOS_Assert(ptr_flightStatus);
|
|
|
|
// allow for Initialize being called more than once.
|
|
if (!mBrakeData) {
|
|
mBrakeData = (VtolBrakeFSMData_T *)pios_malloc(sizeof(VtolBrakeFSMData_T));
|
|
PIOS_Assert(mBrakeData);
|
|
}
|
|
memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T));
|
|
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
|
|
pathDesired = ptr_pathDesired;
|
|
flightStatus = ptr_flightStatus;
|
|
pathStatus = ptr_pathStatus;
|
|
initFSM();
|
|
|
|
return 0;
|
|
}
|
|
|
|
void VtolBrakeFSM::Inactive(void)
|
|
{
|
|
memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T));
|
|
initFSM();
|
|
}
|
|
|
|
// Initialise the FSM
|
|
void VtolBrakeFSM::initFSM(void)
|
|
{
|
|
mBrakeData->currentState = BRAKE_STATE_INACTIVE;
|
|
}
|
|
|
|
void VtolBrakeFSM::Activate()
|
|
{
|
|
memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T));
|
|
mBrakeData->currentState = BRAKE_STATE_INACTIVE;
|
|
setState(BRAKE_STATE_BRAKE, FSMBRAKESTATUS_STATEEXITREASON_NONE);
|
|
}
|
|
|
|
void VtolBrakeFSM::Abort(void)
|
|
{
|
|
setState(BRAKE_STATE_HOLD, FSMBRAKESTATUS_STATEEXITREASON_NONE);
|
|
}
|
|
|
|
PathFollowerFSMState_T VtolBrakeFSM::GetCurrentState(void)
|
|
{
|
|
switch (mBrakeData->currentState) {
|
|
case BRAKE_STATE_INACTIVE:
|
|
return PFFSM_STATE_INACTIVE;
|
|
|
|
break;
|
|
default:
|
|
return PFFSM_STATE_ACTIVE;
|
|
|
|
break;
|
|
}
|
|
}
|
|
|
|
void VtolBrakeFSM::Update()
|
|
{
|
|
runState();
|
|
}
|
|
|
|
int32_t VtolBrakeFSM::runState(void)
|
|
{
|
|
uint8_t flTimeout = false;
|
|
|
|
mBrakeData->stateRunCount++;
|
|
|
|
if (mBrakeData->stateTimeoutCount > 0 && mBrakeData->stateRunCount > mBrakeData->stateTimeoutCount) {
|
|
flTimeout = true;
|
|
}
|
|
|
|
// If the current state has a static function, call it
|
|
if (sBrakeStateTable[mBrakeData->currentState].run) {
|
|
(this->*sBrakeStateTable[mBrakeData->currentState].run)(flTimeout);
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
// Set the new state and perform setup for subsequent state run calls
|
|
// This is called by state run functions on event detection that drive
|
|
// state transitions.
|
|
void VtolBrakeFSM::setState(PathFollowerFSM_BrakeState_T newState, __attribute__((unused)) VtolBrakeFSMStatusStateExitReasonOptions reason)
|
|
{
|
|
// mBrakeData->fsmBrakeStatus.StateExitReason[mBrakeData->currentState] = reason;
|
|
|
|
if (mBrakeData->currentState == newState) {
|
|
return;
|
|
}
|
|
mBrakeData->currentState = newState;
|
|
|
|
// Restart state timer counter
|
|
mBrakeData->stateRunCount = 0;
|
|
|
|
// Reset state timeout to disabled/zero
|
|
mBrakeData->stateTimeoutCount = 0;
|
|
|
|
if (sBrakeStateTable[mBrakeData->currentState].setup) {
|
|
(this->*sBrakeStateTable[mBrakeData->currentState].setup)();
|
|
}
|
|
}
|
|
|
|
|
|
// Timeout utility function for use by state init implementations
|
|
void VtolBrakeFSM::setStateTimeout(int32_t count)
|
|
{
|
|
mBrakeData->stateTimeoutCount = count;
|
|
}
|
|
|
|
// FSM Setup and Run method implementation
|
|
|
|
// State: WAITING FOR DESCENT RATE
|
|
void VtolBrakeFSM::setup_brake(void)
|
|
{
|
|
setStateTimeout(TIMER_COUNT_PER_SECOND * pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT]);
|
|
mBrakeData->observationCount = 0;
|
|
mBrakeData->observation2Count = 0;
|
|
}
|
|
|
|
|
|
void VtolBrakeFSM::run_brake(uint8_t flTimeout)
|
|
{
|
|
// Brake mode end condition checks
|
|
bool exit_brake = false;
|
|
VelocityStateData velocityState;
|
|
PathSummaryData pathSummary;
|
|
|
|
if (flTimeout) {
|
|
pathSummary.brake_exit_reason = PATHSUMMARY_BRAKE_EXIT_REASON_TIMEOUT;
|
|
exit_brake = true;
|
|
} else if (pathStatus->fractional_progress > BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK) {
|
|
VelocityStateGet(&velocityState);
|
|
if (fabsf(velocityState.East) < BRAKE_EXIT_VELOCITY_LIMIT && fabsf(velocityState.North) < BRAKE_EXIT_VELOCITY_LIMIT) {
|
|
pathSummary.brake_exit_reason = PATHSUMMARY_BRAKE_EXIT_REASON_PATHCOMPLETED;
|
|
exit_brake = true;
|
|
}
|
|
}
|
|
|
|
if (exit_brake) {
|
|
// Calculate the distance error between the originally desired
|
|
// stopping point and the actual brake-exit point.
|
|
|
|
PositionStateData p;
|
|
PositionStateGet(&p);
|
|
float north_offset = pathDesired->End.North - p.North;
|
|
float east_offset = pathDesired->End.East - p.East;
|
|
float down_offset = pathDesired->End.Down - p.Down;
|
|
pathSummary.brake_distance_offset = sqrtf(north_offset * north_offset + east_offset * east_offset + down_offset * down_offset);
|
|
pathSummary.time_remaining = pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] - pathStatus->path_time;
|
|
pathSummary.fractional_progress = pathStatus->fractional_progress;
|
|
float cur_velocity = velocityState.North * velocityState.North + velocityState.East * velocityState.East + velocityState.Down * velocityState.Down;
|
|
cur_velocity = sqrtf(cur_velocity);
|
|
pathSummary.decelrate = (pathDesired->StartingVelocity - cur_velocity) / pathStatus->path_time;
|
|
pathSummary.brakeRateActualDesiredRatio = pathSummary.decelrate / vtolPathFollowerSettings->BrakeRate;
|
|
pathSummary.velocityIntoHold = cur_velocity;
|
|
pathSummary.Mode = PATHSUMMARY_MODE_BRAKE;
|
|
pathSummary.UID = pathStatus->UID;
|
|
PathSummarySet(&pathSummary);
|
|
|
|
setState(BRAKE_STATE_HOLD, FSMBRAKESTATUS_STATEEXITREASON_NONE);
|
|
}
|
|
}
|
|
|
|
uint8_t VtolBrakeFSM::PositionHoldState(void)
|
|
{
|
|
return mBrakeData->currentState == BRAKE_STATE_HOLD;
|
|
}
|