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Remove LNDMC_ALT_MAX

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This should be replaced with the maximum geofence
altitude GF_MAX_VER_DIST. I'm not aware anyone is using
this functionality as is.
This commit is contained in:
Matthias Grob
2023-11-15 14:49:49 +01:00
parent fd4d635035
commit 9bed8f48c7
16 changed files with 0 additions and 97 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/FlightModeManager.cpp
-23
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@@ -103,7 +103,6 @@ void FlightModeManager::Run()
const float dt = math::constrain(((time_stamp_now - _time_stamp_last_loop) / 1e6f), 0.0002f, 0.1f);
_time_stamp_last_loop = time_stamp_now;
_home_position_sub.update();
_vehicle_control_mode_sub.update();
_vehicle_land_detected_sub.update();
_vehicle_status_sub.update();
@@ -330,9 +329,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
constraints = _current_task.task->getConstraints();
}
// limit altitude according to land detector
limitAltitude(setpoint, vehicle_local_position);
if (_takeoff_status_sub.updated()) {
takeoff_status_s takeoff_status;
@@ -366,25 +362,6 @@ void FlightModeManager::generateTrajectorySetpoint(const float dt,
_old_landing_gear_position = landing_gear.landing_gear;
}
void FlightModeManager::limitAltitude(trajectory_setpoint_s &setpoint,
const vehicle_local_position_s &vehicle_local_position)
{
if (_param_lndmc_alt_max.get() < 0.0f || !_home_position_sub.get().valid_alt
|| !vehicle_local_position.z_valid || !vehicle_local_position.v_z_valid) {
// there is no altitude limitation present or the required information not available
return;
}
// maximum altitude == minimal z-value (NED)
const float min_z = _home_position_sub.get().z + (-_param_lndmc_alt_max.get());
if (vehicle_local_position.z < min_z) {
// above maximum altitude, only allow downwards flight == positive vz-setpoints (NED)
setpoint.position[2] = min_z;
setpoint.velocity[2] = math::max(setpoint.velocity[2], 0.f);
}
}
FlightTaskError FlightModeManager::switchTask(FlightTaskIndex new_task_index)
{
// switch to the running task, nothing to do
src/modules/flight_mode_manager/FlightModeManager.hpp
-3
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@@ -90,7 +90,6 @@ private:
void start_flight_task();
void handleCommand();
void generateTrajectorySetpoint(const float dt, const vehicle_local_position_s &vehicle_local_position);
void limitAltitude(trajectory_setpoint_s &setpoint, const vehicle_local_position_s &vehicle_local_position);
/**
* Switch to a specific task (for normal usage)
@@ -143,7 +142,6 @@ private:
uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
uORB::Subscription _vehicle_attitude_setpoint_sub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::SubscriptionData<home_position_s> _home_position_sub{ORB_ID(home_position)};
uORB::SubscriptionData<vehicle_control_mode_s> _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
uORB::SubscriptionData<vehicle_land_detected_s> _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
@@ -155,7 +153,6 @@ private:
uORB::Publication<vehicle_constraints_s> _vehicle_constraints_pub{ORB_ID(vehicle_constraints)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::LNDMC_ALT_MAX>) _param_lndmc_alt_max,
(ParamInt<px4::params::MPC_POS_MODE>) _param_mpc_pos_mode
);
};
src/modules/land_detector/land_detector_params_mc.c
-18
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@@ -87,24 +87,6 @@ PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
*/
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/**
* Maximum altitude for multicopters
*
* The system will obey this limit as a
* hard altitude limit. This setting will
* be consolidated with the GF_MAX_VER_DIST
* parameter.
* A negative value indicates no altitude limitation.
*
* @unit m
* @min -1
* @max 10000
* @decimal 2
* @group Land Detector
*
*/
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);
/**
* Ground effect altitude for multicopters
*
src/modules/navigator/land.cpp
-1
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@@ -58,7 +58,6 @@ Land::on_activation()
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
pos_sp_triplet->previous.valid = false;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
src/modules/navigator/loiter.cpp
-1
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@@ -119,7 +119,6 @@ Loiter::set_loiter_position()
// convert mission item to current setpoint
pos_sp_triplet->previous.valid = false;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
src/modules/navigator/mission.cpp
-4
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@@ -222,7 +222,6 @@ void Mission::setActiveMissionItems()
// TODO Precision land needs to be refactored: https://github.com/PX4/Firmware/issues/14320
if (new_work_item_type != WorkItemType::WORK_ITEM_TYPE_PRECISION_LAND) {
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
}
@@ -256,13 +255,11 @@ void Mission::setActiveMissionItems()
if (num_found_items > 0u) {
// We have a position, convert it to the setpoint and update setpoint triplet
mission_apply_limitation(next_mission_items[0u]);
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->current);
}
if (num_found_items >= 2u) {
/* got next mission item, update setpoint triplet */
mission_apply_limitation(next_mission_items[1u]);
mission_item_to_position_setpoint(next_mission_items[1u], &pos_sp_triplet->next);
} else {
@@ -439,7 +436,6 @@ void Mission::handleVtolTransition(WorkItemType &new_work_item_type, mission_ite
set_align_mission_item(&_mission_item, &next_mission_items[0u]);
/* set position setpoint to target during the transition */
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->current);
}
src/modules/navigator/mission_base.cpp
-3
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@@ -285,7 +285,6 @@ MissionBase::on_active()
}
}
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current);
reset_mission_item_reached();
@@ -490,7 +489,6 @@ void MissionBase::setEndOfMissionItems()
/* update position setpoint triplet */
pos_sp_triplet->previous.valid = false;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;
@@ -808,7 +806,6 @@ MissionBase::do_abort_landing()
_mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current);
// XXX: this is a hack to invalidate the "next" position setpoint for the fixed-wing position controller during
src/modules/navigator/mission_block.cpp
-23
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@@ -877,29 +877,6 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_
item->autocontinue = true;
}
void
MissionBlock::mission_apply_limitation(mission_item_s &item)
{
// Limit altitude
const float maximum_altitude = _navigator->get_lndmc_alt_max();
/* do nothing if altitude max is negative */
if (maximum_altitude > 0.0f) {
/* absolute altitude */
float altitude_abs = item.altitude_is_relative
? item.altitude + _navigator->get_home_position()->alt
: item.altitude;
/* limit altitude to maximum allowed altitude */
if ((maximum_altitude + _navigator->get_home_position()->alt) < altitude_abs) {
item.altitude = item.altitude_is_relative ?
maximum_altitude :
maximum_altitude + _navigator->get_home_position()->alt;
}
}
}
float
MissionBlock::get_absolute_altitude_for_item(const mission_item_s &mission_item) const
{
src/modules/navigator/mission_block.h
-5
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@@ -205,11 +205,6 @@ protected:
*/
void set_vtol_transition_item(struct mission_item_s *item, const uint8_t new_mode);
/**
* General function used to adjust the mission item based on vehicle specific limitations
*/
void mission_apply_limitation(mission_item_s &item);
void setLoiterToAltMissionItem(mission_item_s &item, const DestinationPosition &dest, float loiter_radius,
HeadingMode heading_mode) const;
src/modules/navigator/navigator.h
-2
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@@ -269,7 +269,6 @@ public:
int get_takeoff_land_required() const { return _para_mis_takeoff_land_req.get(); }
float get_yaw_timeout() const { return _param_mis_yaw_tmt.get(); }
float get_yaw_threshold() const { return math::radians(_param_mis_yaw_err.get()); }
float get_lndmc_alt_max() const { return _param_lndmc_alt_max.get(); }
float get_vtol_back_trans_deceleration() const { return _param_back_trans_dec_mss; }
@@ -407,7 +406,6 @@ private:
(ParamFloat<px4::params::MIS_YAW_TMT>) _param_mis_yaw_tmt,
(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err,
(ParamFloat<px4::params::MIS_PD_TO>) _param_mis_payload_delivery_timeout,
(ParamFloat<px4::params::LNDMC_ALT_MAX>) _param_lndmc_alt_max,
(ParamInt<px4::params::MIS_LND_ABRT_ALT>) _param_mis_lnd_abrt_alt
)
};
src/modules/navigator/rtl_direct.cpp
-2
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@@ -349,8 +349,6 @@ void RtlDirect::set_rtl_item()
} else {
// Convert mission item to current position setpoint and make it valid.
mission_apply_limitation(_mission_item);
if (mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current)) {
_navigator->set_position_setpoint_triplet_updated();
}
src/modules/navigator/rtl_direct_mission_land.cpp
-3
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@@ -122,7 +122,6 @@ void RtlDirectMissionLand::setActiveMissionItems()
(int32_t)ceilf(_rtl_alt));
_needs_climbing = false;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
new_work_item_type = WorkItemType::WORK_ITEM_TYPE_CLIMB;
@@ -180,11 +179,9 @@ void RtlDirectMissionLand::setActiveMissionItems()
}
if (num_found_items > 0) {
mission_apply_limitation(next_mission_items[0u]);
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
}
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
}
src/modules/navigator/rtl_mission_fast.cpp
-2
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@@ -132,11 +132,9 @@ void RtlMissionFast::setActiveMissionItems()
if (num_found_items > 0) {
mission_apply_limitation(next_mission_items[0u]);
mission_item_to_position_setpoint(next_mission_items[0u], &pos_sp_triplet->next);
}
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
}
src/modules/navigator/rtl_mission_fast_reverse.cpp
-2
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@@ -126,12 +126,10 @@ void RtlMissionFastReverse::setActiveMissionItems()
reinterpret_cast<uint8_t *>(&next_mission_item), sizeof(mission_item_s), MAX_DATAMAN_LOAD_WAIT);
if (success) {
mission_apply_limitation(next_mission_item);
mission_item_to_position_setpoint(next_mission_item, &pos_sp_triplet->next);
}
}
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
}
src/modules/navigator/takeoff.cpp
-3
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@@ -85,8 +85,6 @@ Takeoff::on_active()
}
}
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
@@ -129,7 +127,6 @@ Takeoff::set_takeoff_position()
// convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->previous.valid = false;
src/modules/navigator/vtol_takeoff.cpp
-2
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@@ -74,7 +74,6 @@ VtolTakeoff::on_active()
_mission_item.yaw = wrap_pi(get_bearing_to_next_waypoint(_mission_item.lat,
_mission_item.lon, _loiter_location(0), _loiter_location(1)));
_mission_item.force_heading = true;
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->current.disable_weather_vane = true;
pos_sp_triplet->current.cruising_speed = -1.f;
@@ -180,7 +179,6 @@ VtolTakeoff::set_takeoff_position()
// convert mission item to current setpoint
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->previous.valid = false;