mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
424 lines
12 KiB
C
424 lines
12 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup PathPlanner Path Planner Module
|
|
* @brief Executes a series of waypoints
|
|
* @{
|
|
*
|
|
* @file pathplanner.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
|
* @brief Executes a series of waypoints
|
|
*
|
|
* @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
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
#include "paths.h"
|
|
|
|
#include "flightstatus.h"
|
|
#include "pathdesired.h"
|
|
#include "pathplannersettings.h"
|
|
#include "positionactual.h"
|
|
#include "waypoint.h"
|
|
#include "waypointactive.h"
|
|
|
|
// Private constants
|
|
#define STACK_SIZE_BYTES 1024
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
|
|
#define MAX_QUEUE_SIZE 2
|
|
|
|
// Private types
|
|
|
|
// Private variables
|
|
static xTaskHandle taskHandle;
|
|
static xQueueHandle queue;
|
|
static PathPlannerSettingsData pathPlannerSettings;
|
|
static WaypointActiveData waypointActive;
|
|
static WaypointData waypoint;
|
|
|
|
// Private functions
|
|
static void advanceWaypoint();
|
|
static void checkTerminationCondition();
|
|
static void activateWaypoint();
|
|
|
|
static void pathPlannerTask(void *parameters);
|
|
static void settingsUpdated(UAVObjEvent * ev);
|
|
static void waypointsUpdated(UAVObjEvent * ev);
|
|
static void createPathBox();
|
|
static void createPathLogo();
|
|
|
|
static int32_t active_waypoint = -1;
|
|
/**
|
|
* Module initialization
|
|
*/
|
|
int32_t PathPlannerStart()
|
|
{
|
|
taskHandle = NULL;
|
|
|
|
// Start VM thread
|
|
xTaskCreate(pathPlannerTask, (signed char *)"PathPlanner", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
|
|
TaskMonitorAdd(TASKINFO_RUNNING_PATHPLANNER, taskHandle);
|
|
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Module initialization
|
|
*/
|
|
int32_t PathPlannerInitialize()
|
|
{
|
|
taskHandle = NULL;
|
|
|
|
PathPlannerSettingsInitialize();
|
|
WaypointInitialize();
|
|
WaypointActiveInitialize();
|
|
|
|
// Create object queue
|
|
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
|
|
|
|
return 0;
|
|
}
|
|
|
|
MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart)
|
|
|
|
/**
|
|
* Module task
|
|
*/
|
|
int32_t bad_inits;
|
|
int32_t bad_reads;
|
|
static void pathPlannerTask(void *parameters)
|
|
{
|
|
PathPlannerSettingsConnectCallback(settingsUpdated);
|
|
settingsUpdated(PathPlannerSettingsHandle());
|
|
|
|
WaypointConnectCallback(waypointsUpdated);
|
|
WaypointActiveConnectCallback(waypointsUpdated);
|
|
|
|
FlightStatusData flightStatus;
|
|
|
|
// Main thread loop
|
|
bool pathplanner_active = false;
|
|
while (1)
|
|
{
|
|
|
|
vTaskDelay(20);
|
|
|
|
FlightStatusGet(&flightStatus);
|
|
if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) {
|
|
pathplanner_active = false;
|
|
continue;
|
|
}
|
|
|
|
checkTerminationCondition();
|
|
|
|
if(pathplanner_active == false) {
|
|
// This triggers callback to update variable
|
|
WaypointActiveGet(&waypointActive);
|
|
waypointActive.Index = 0;
|
|
WaypointActiveSet(&waypointActive);
|
|
|
|
pathplanner_active = true;
|
|
continue;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
/**
|
|
* On changed waypoints or active waypoint update position desired
|
|
* if we are in charge
|
|
*/
|
|
static void waypointsUpdated(UAVObjEvent * ev)
|
|
{
|
|
FlightStatusData flightStatus;
|
|
FlightStatusGet(&flightStatus);
|
|
if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER)
|
|
return;
|
|
|
|
WaypointActiveGet(&waypointActive);
|
|
if(active_waypoint != waypointActive.Index)
|
|
activateWaypoint(waypointActive.Index);
|
|
}
|
|
|
|
/**
|
|
* This method checks the current position against the active waypoint
|
|
* to determine if it has been reached
|
|
*/
|
|
static void checkTerminationCondition()
|
|
{
|
|
const float MIN_RADIUS = 4.0f; // Radius to consider at waypoint (m)
|
|
|
|
PositionActualData positionActual;
|
|
PathDesiredData pathDesired;
|
|
|
|
switch(waypoint.Action) {
|
|
case WAYPOINT_ACTION_ENDPOINTTONEXT:
|
|
PositionActualGet(&positionActual);
|
|
|
|
float r2 = powf(positionActual.North - waypoint.Position[WAYPOINT_POSITION_NORTH], 2) +
|
|
powf(positionActual.East - waypoint.Position[WAYPOINT_POSITION_EAST], 2) +
|
|
powf(positionActual.Down - waypoint.Position[WAYPOINT_POSITION_DOWN], 2);
|
|
|
|
// We hit this waypoint
|
|
if (r2 < (MIN_RADIUS * MIN_RADIUS))
|
|
advanceWaypoint();
|
|
|
|
break;
|
|
|
|
case WAYPOINT_ACTION_PATHTONEXT:
|
|
|
|
PathDesiredGet(&pathDesired);
|
|
PositionActualGet(&positionActual);
|
|
|
|
float cur[3] = {positionActual.North, positionActual.East, positionActual.Down};
|
|
struct path_status progress;
|
|
|
|
path_progress(pathDesired.Start, pathDesired.End, cur, &progress);
|
|
|
|
if (progress.fractional_progress >= 1)
|
|
advanceWaypoint();
|
|
|
|
break;
|
|
case WAYPOINT_ACTION_STOP:
|
|
// Never advance even when you hit a stop waypoint
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
/**
|
|
* Increment the waypoint index which triggers the active waypoint method
|
|
*/
|
|
static void advanceWaypoint()
|
|
{
|
|
WaypointActiveGet(&waypointActive);
|
|
waypointActive.Index++;
|
|
WaypointActiveSet(&waypointActive);
|
|
}
|
|
|
|
/**
|
|
* This method is called when a new waypoint is activated
|
|
*/
|
|
static void activateWaypoint(int idx)
|
|
{
|
|
active_waypoint = idx;
|
|
|
|
uint8_t waypoint_mode = WAYPOINT_ACTION_PATHTONEXT;
|
|
if (idx > 0) {
|
|
WaypointData prevWaypoint;
|
|
WaypointInstGet(idx - 1, &prevWaypoint);
|
|
waypoint_mode = prevWaypoint.Action;
|
|
}
|
|
|
|
PathDesiredData pathDesired;
|
|
|
|
switch(waypoint_mode) {
|
|
case WAYPOINT_ACTION_ENDPOINTTONEXT:
|
|
{
|
|
WaypointInstGet(idx, &waypoint);
|
|
|
|
PathDesiredGet(&pathDesired);
|
|
pathDesired.End[PATHDESIRED_END_NORTH] = waypoint.Position[WAYPOINT_POSITION_NORTH];
|
|
pathDesired.End[PATHDESIRED_END_EAST] = waypoint.Position[WAYPOINT_POSITION_EAST];
|
|
pathDesired.End[PATHDESIRED_END_DOWN] = -waypoint.Position[WAYPOINT_POSITION_DOWN];
|
|
pathDesired.Mode = PATHDESIRED_MODE_ENDPOINT;
|
|
PathDesiredSet(&pathDesired);
|
|
}
|
|
break;
|
|
case WAYPOINT_ACTION_PATHTONEXT:
|
|
{
|
|
WaypointInstGet(idx, &waypoint);
|
|
|
|
PathDesiredData pathDesired;
|
|
|
|
pathDesired.End[PATHDESIRED_END_NORTH] = waypoint.Position[WAYPOINT_POSITION_NORTH];
|
|
pathDesired.End[PATHDESIRED_END_EAST] = waypoint.Position[WAYPOINT_POSITION_EAST];
|
|
pathDesired.End[PATHDESIRED_END_DOWN] = waypoint.Position[WAYPOINT_POSITION_DOWN];
|
|
pathDesired.Mode = PATHDESIRED_MODE_PATH;
|
|
pathDesired.EndingVelocity = sqrtf(powf(waypoint.Velocity[WAYPOINT_VELOCITY_NORTH],2) +
|
|
powf(waypoint.Velocity[WAYPOINT_VELOCITY_EAST],2));
|
|
|
|
if(waypointActive.Index == 0) {
|
|
// Get current position as start point
|
|
PositionActualData positionActual;
|
|
PositionActualGet(&positionActual);
|
|
|
|
pathDesired.Start[PATHDESIRED_START_NORTH] = positionActual.North;
|
|
pathDesired.Start[PATHDESIRED_START_EAST] = positionActual.East;
|
|
pathDesired.Start[PATHDESIRED_START_DOWN] = positionActual.Down - 1;
|
|
pathDesired.StartingVelocity = pathDesired.EndingVelocity;
|
|
} else {
|
|
// Get previous waypoint as start point
|
|
WaypointData waypointPrev;
|
|
WaypointInstGet(waypointActive.Index - 1, &waypointPrev);
|
|
|
|
pathDesired.Start[PATHDESIRED_END_NORTH] = waypointPrev.Position[WAYPOINT_POSITION_NORTH];
|
|
pathDesired.Start[PATHDESIRED_END_EAST] = waypointPrev.Position[WAYPOINT_POSITION_EAST];
|
|
pathDesired.Start[PATHDESIRED_END_DOWN] = waypointPrev.Position[WAYPOINT_POSITION_DOWN];
|
|
pathDesired.StartingVelocity = sqrtf(powf(waypointPrev.Velocity[WAYPOINT_VELOCITY_NORTH],2) +
|
|
powf(waypointPrev.Velocity[WAYPOINT_VELOCITY_EAST],2));
|
|
}
|
|
PathDesiredSet(&pathDesired);
|
|
}
|
|
break;
|
|
}
|
|
|
|
}
|
|
|
|
void settingsUpdated(UAVObjEvent * ev) {
|
|
uint8_t preprogrammedPath = pathPlannerSettings.PreprogrammedPath;
|
|
PathPlannerSettingsGet(&pathPlannerSettings);
|
|
if (pathPlannerSettings.PreprogrammedPath != preprogrammedPath) {
|
|
switch(pathPlannerSettings.PreprogrammedPath) {
|
|
case PATHPLANNERSETTINGS_PREPROGRAMMEDPATH_NONE:
|
|
break;
|
|
case PATHPLANNERSETTINGS_PREPROGRAMMEDPATH_10M_BOX:
|
|
createPathBox();
|
|
break;
|
|
case PATHPLANNERSETTINGS_PREPROGRAMMEDPATH_LOGO:
|
|
createPathLogo();
|
|
break;
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
static void createPathBox()
|
|
{
|
|
WaypointCreateInstance();
|
|
WaypointCreateInstance();
|
|
WaypointCreateInstance();
|
|
WaypointCreateInstance();
|
|
WaypointCreateInstance();
|
|
|
|
// Draw O
|
|
WaypointData waypoint;
|
|
waypoint.Velocity[0] = 2; // Since for now this isn't directional just set a mag
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
|
|
waypoint.Position[0] = 5;
|
|
waypoint.Position[1] = 5;
|
|
waypoint.Position[2] = -10;
|
|
WaypointInstSet(0, &waypoint);
|
|
|
|
waypoint.Position[0] = -5;
|
|
waypoint.Position[1] = 5;
|
|
WaypointInstSet(1, &waypoint);
|
|
|
|
waypoint.Position[0] = -5;
|
|
waypoint.Position[1] = -5;
|
|
WaypointInstSet(2, &waypoint);
|
|
|
|
waypoint.Position[0] = 5;
|
|
waypoint.Position[1] = -5;
|
|
WaypointInstSet(3, &waypoint);
|
|
|
|
waypoint.Position[0] = 5;
|
|
waypoint.Position[1] = 5;
|
|
WaypointInstSet(4, &waypoint);
|
|
|
|
waypoint.Position[0] = 0;
|
|
waypoint.Position[1] = 0;
|
|
WaypointInstSet(5, &waypoint);
|
|
}
|
|
|
|
static void createPathLogo()
|
|
{
|
|
float scale = 1;
|
|
|
|
// Draw O
|
|
WaypointData waypoint;
|
|
waypoint.Velocity[0] = 2; // Since for now this isn't directional just set a mag
|
|
for(uint32_t i = 0; i < 20; i++) {
|
|
waypoint.Position[1] = scale * 30 * cos(i / 19.0 * 2 * M_PI);
|
|
waypoint.Position[0] = scale * 50 * sin(i / 19.0 * 2 * M_PI);
|
|
waypoint.Position[2] = -50;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
bad_inits += (WaypointInstSet(i, &waypoint) != 0);
|
|
}
|
|
|
|
// Draw P
|
|
for(uint32_t i = 20; i < 35; i++) {
|
|
waypoint.Position[1] = scale * (55 + 20 * cos(i / 10.0 * M_PI - M_PI / 2));
|
|
waypoint.Position[0] = scale * (25 + 25 * sin(i / 10.0 * M_PI - M_PI / 2));
|
|
waypoint.Position[2] = -50;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
bad_inits += (WaypointInstSet(i, &waypoint) != 0);
|
|
}
|
|
|
|
waypoint.Position[1] = scale * 35;
|
|
waypoint.Position[0] = scale * -50;
|
|
waypoint.Position[2] = -50;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(35, &waypoint);
|
|
|
|
// Draw Box
|
|
waypoint.Position[1] = scale * 35;
|
|
waypoint.Position[0] = scale * -60;
|
|
waypoint.Position[2] = -30;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(36, &waypoint);
|
|
|
|
waypoint.Position[1] = scale * 85;
|
|
waypoint.Position[0] = scale * -60;
|
|
waypoint.Position[2] = -30;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(37, &waypoint);
|
|
|
|
waypoint.Position[1] = scale * 85;
|
|
waypoint.Position[0] = scale * 60;
|
|
waypoint.Position[2] = -30;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(38, &waypoint);
|
|
|
|
waypoint.Position[1] = scale * -40;
|
|
waypoint.Position[0] = scale * 60;
|
|
waypoint.Position[2] = -30;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(39, &waypoint);
|
|
|
|
waypoint.Position[1] = scale * -40;
|
|
waypoint.Position[0] = scale * -60;
|
|
waypoint.Position[2] = -30;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(40, &waypoint);
|
|
|
|
waypoint.Position[1] = scale * 35;
|
|
waypoint.Position[0] = scale * -60;
|
|
waypoint.Position[2] = -30;
|
|
waypoint.Action = WAYPOINT_ACTION_PATHTONEXT;
|
|
WaypointCreateInstance();
|
|
WaypointInstSet(41, &waypoint);
|
|
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|