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Convert NPFG to local coordinates

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This commit is contained in:
Jaeyoung-Lim
2022-03-20 13:22:11 +01:00
committed by JaeyoungLim
parent f804b3516f
commit 71bfb9c0de
3 changed files with 52 additions and 66 deletions
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src/lib/npfg/npfg.cpp
+8 -21
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@@ -518,8 +518,8 @@ float NPFG::lateralAccel(const Vector2f &air_vel, const Vector2f &air_vel_ref, c
* PX4 NAVIGATION INTERFACE FUNCTIONS (provide similar functionality to ECL_L1_Pos_Controller)
*/
void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoint_B,
const Vector2d &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
void NPFG::navigateWaypoints(const Vector2f &waypoint_A, const Vector2f &waypoint_B,
const Vector2f &vehicle_pos, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
// similar to logic found in ECL_L1_Pos_Controller method of same name
// BUT no arbitrary max approach angle, approach entirely determined by generated
@@ -527,8 +527,8 @@ void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoin
path_type_loiter_ = false;
Vector2f vector_A_to_B = getLocalPlanarVector(waypoint_A, waypoint_B);
Vector2f vector_A_to_vehicle = getLocalPlanarVector(waypoint_A, vehicle_pos);
Vector2f vector_A_to_B = waypoint_B - waypoint_A;
Vector2f vector_A_to_vehicle = vehicle_pos - waypoint_A;
if (vector_A_to_B.norm() < NPFG_EPSILON) {
// the waypoints are on top of each other and should be considered as a
@@ -573,14 +573,14 @@ void NPFG::navigateWaypoints(const Vector2d &waypoint_A, const Vector2d &waypoin
updateRollSetpoint();
} // navigateWaypoints
void NPFG::navigateLoiter(const Vector2d &loiter_center, const Vector2d &vehicle_pos,
void NPFG::navigateLoiter(const Vector2f &loiter_center, const Vector2f &vehicle_pos,
float radius, int8_t loiter_direction, const Vector2f &ground_vel, const Vector2f &wind_vel)
{
path_type_loiter_ = true;
radius = math::max(radius, MIN_RADIUS);
Vector2f vector_center_to_vehicle = getLocalPlanarVector(loiter_center, vehicle_pos);
Vector2f vector_center_to_vehicle = vehicle_pos - loiter_center;
const float dist_to_center = vector_center_to_vehicle.norm();
// find the direction from the circle center to the closest point on its perimeter
@@ -618,7 +618,7 @@ void NPFG::navigateLoiter(const Vector2d &loiter_center, const Vector2d &vehicle
} // navigateLoiter
void NPFG::navigatePathTangent(const matrix::Vector2d &vehicle_pos, const matrix::Vector2d &position_setpoint,
void NPFG::navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint,
const matrix::Vector2f &tangent_setpoint,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature)
{
@@ -628,7 +628,7 @@ void NPFG::navigatePathTangent(const matrix::Vector2d &vehicle_pos, const matrix
unit_path_tangent_ = tangent_setpoint.normalized();
// closest point to vehicle
matrix::Vector2f error_vector = getLocalPlanarVector(position_setpoint, vehicle_pos);
matrix::Vector2f error_vector = vehicle_pos - position_setpoint;
signed_track_error_ = unit_path_tangent_.cross(error_vector);
guideToPath(ground_vel, wind_vel, unit_path_tangent_, signed_track_error_, curvature);
@@ -684,19 +684,6 @@ float NPFG::switchDistance(float wp_radius) const
return math::min(wp_radius, track_error_bound_ * switch_distance_multiplier_);
} // switchDistance
Vector2f NPFG::getLocalPlanarVector(const Vector2d &origin, const Vector2d &target) const
{
/* this is an approximation for small angles, proposed by [2] */
const double x_angle = math::radians(target(0) - origin(0));
const double y_angle = math::radians(target(1) - origin(1));
const double x_origin_cos = cos(math::radians(origin(0)));
return Vector2f{
static_cast<float>(x_angle * CONSTANTS_RADIUS_OF_EARTH),
static_cast<float>(y_angle *x_origin_cos * CONSTANTS_RADIUS_OF_EARTH),
};
} // getLocalPlanarVector
void NPFG::updateRollSetpoint()
{
float roll_new = atanf(lateral_accel_ * 1.0f / CONSTANTS_ONE_G);
src/lib/npfg/npfg.hpp
+4 -19
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@@ -228,8 +228,8 @@ public:
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s]
*/
void navigateWaypoints(const matrix::Vector2d &waypoint_A, const matrix::Vector2d &waypoint_B,
const matrix::Vector2d &vehicle_pos, const matrix::Vector2f &ground_vel,
void navigateWaypoints(const matrix::Vector2f &waypoint_A, const matrix::Vector2f &waypoint_B,
const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &ground_vel,
const matrix::Vector2f &wind_vel);
/*
@@ -244,7 +244,7 @@ public:
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s]
*/
void navigateLoiter(const matrix::Vector2d &loiter_center, const matrix::Vector2d &vehicle_pos,
void navigateLoiter(const matrix::Vector2f &loiter_center, const matrix::Vector2f &vehicle_pos,
float radius, int8_t loiter_direction, const matrix::Vector2f &ground_vel,
const matrix::Vector2f &wind_vel);
@@ -259,7 +259,7 @@ public:
* @param[in] wind_vel Wind velocity vector [m/s]
* @param[in] curvature of the path setpoint [1/m]
*/
void navigatePathTangent(const matrix::Vector2d &vehicle_pos, const matrix::Vector2d &position_setpoint,
void navigatePathTangent(const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &position_setpoint,
const matrix::Vector2f &tangent_setpoint,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel, const float &curvature);
@@ -721,21 +721,6 @@ private:
* PX4 POSITION SETPOINT INTERFACE FUNCTIONS
*/
/**
* [Copied directly from ECL_L1_Pos_Controller]
*
* Convert a 2D vector from WGS84 to planar coordinates.
*
* This converts from latitude and longitude to planar
* coordinates with (0,0) being at the position of ref and
* returns a vector in meters towards wp.
*
* @param ref The reference position in WGS84 coordinates
* @param wp The point to convert to into the local coordinates, in WGS84 coordinates
* @return The vector in meters pointing from the reference position to the coordinates
*/
matrix::Vector2f getLocalPlanarVector(const matrix::Vector2d &origin, const matrix::Vector2d &target) const;
/**
* [Copied directly from ECL_L1_Pos_Controller]
*
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+40 -26
View File
@@ -1187,6 +1187,9 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const fl
}
float target_airspeed = get_auto_airspeed_setpoint(now, pos_sp_curr.cruising_speed, ground_speed, dt);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0), prev_wp(1));
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
@@ -1197,20 +1200,17 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const fl
matrix::Vector2f velocity_2d(pos_sp_curr.vx, pos_sp_curr.vy);
float curvature = PX4_ISFINITE(_pos_sp_triplet.current.loiter_radius) ? 1 / _pos_sp_triplet.current.loiter_radius :
0.0f;
_npfg.navigatePathTangent(curr_pos, curr_wp, velocity_2d.normalized(), get_nav_speed_2d(ground_speed), _wind_vel,
curvature);
_npfg.navigatePathTangent(curr_pos_local, curr_wp_local, velocity_2d.normalized(), get_nav_speed_2d(ground_speed),
_wind_vel, curvature);
} else {
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, get_nav_speed_2d(ground_speed), _wind_vel);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, get_nav_speed_2d(ground_speed), _wind_vel);
}
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
} else {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0), prev_wp(1));
_l1_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, get_nav_speed_2d(ground_speed));
_att_sp.roll_body = _l1_control.get_roll_setpoint();
}
@@ -1372,16 +1372,18 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const floa
float target_airspeed = get_auto_airspeed_setpoint(now, airspeed_sp, ground_speed, dt);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateLoiter(curr_wp, curr_pos, loiter_radius, loiter_direction, get_nav_speed_2d(ground_speed), _wind_vel);
_npfg.navigateLoiter(curr_wp_local, curr_pos_local, loiter_radius, loiter_direction, get_nav_speed_2d(ground_speed),
_wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
} else {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
_l1_control.navigate_loiter(curr_wp_local, curr_pos_local, loiter_radius, loiter_direction,
get_nav_speed_2d(ground_speed));
_att_sp.roll_body = _l1_control.get_roll_setpoint();
@@ -1478,18 +1480,19 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
* Update navigation: _runway_takeoff returns the start WP according to mode and phase.
* If we use the navigator heading or not is decided later.
*/
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(_runway_takeoff.getStartWP()(0),
_runway_takeoff.getStartWP()(1));
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(_runway_takeoff.getStartWP(), curr_wp, curr_pos, ground_speed, _wind_vel);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
_att_sp.roll_body = _runway_takeoff.getRoll(_npfg.getRollSetpoint());
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
} else {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(_runway_takeoff.getStartWP()(0),
_runway_takeoff.getStartWP()(1));
_l1_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed);
_att_sp.roll_body = _runway_takeoff.getRoll(_l1_control.get_roll_setpoint());
}
@@ -1552,18 +1555,19 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
float target_airspeed = get_auto_airspeed_setpoint(now, _param_fw_airspd_trim.get(), ground_speed,
dt);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(_runway_takeoff.getStartWP()(0),
_runway_takeoff.getStartWP()(1));
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, ground_speed, _wind_vel);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
} else {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(_runway_takeoff.getStartWP()(0),
_runway_takeoff.getStartWP()(1));
_l1_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed);
_att_sp.roll_body = _l1_control.get_roll_setpoint();
}
@@ -1807,8 +1811,12 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
_npfg.navigateHeading(_target_bearing, ground_speed, _wind_vel);
} else {
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0),
prev_wp(1));
// normal navigation
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, ground_speed, _wind_vel);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
}
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
@@ -1927,7 +1935,12 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
} else {
// normal navigation
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, ground_speed, _wind_vel);
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0),
prev_wp(1));
// normal navigation
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
}
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
@@ -2099,19 +2112,20 @@ FixedwingPositionControl::control_manual_position(const hrt_abstime &now, const
Vector2d prev_wp{_hdg_hold_prev_wp.lat, _hdg_hold_prev_wp.lon};
Vector2d curr_wp{_hdg_hold_curr_wp.lat, _hdg_hold_curr_wp.lon};
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0),
prev_wp(1));
if (_param_fw_use_npfg.get()) {
_npfg.setAirspeedNom(target_airspeed * _eas2tas);
_npfg.setAirspeedMax(_param_fw_airspd_max.get() * _eas2tas);
_npfg.navigateWaypoints(prev_wp, curr_wp, curr_pos, ground_speed, _wind_vel);
_npfg.navigateWaypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel);
_att_sp.roll_body = _npfg.getRollSetpoint();
target_airspeed = _npfg.getAirspeedRef() / _eas2tas;
} else {
/* populate l1 control setpoint */
Vector2f curr_pos_local{_local_pos.x, _local_pos.y};
Vector2f curr_wp_local = _global_local_proj_ref.project(curr_wp(0), curr_wp(1));
Vector2f prev_wp_local = _global_local_proj_ref.project(prev_wp(0),
prev_wp(1));
_l1_control.navigate_waypoints(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed);
_att_sp.roll_body = _l1_control.get_roll_setpoint();
}