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VTOL back transition acceptance radius calculation

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This commit is contained in:
Sander Smeets
2016-12-05 01:47:22 +01:00
committed by Lorenz Meier
parent 496dee5d2d
commit de039ca870
4 changed files with 40 additions and 23 deletions
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src/modules/navigator/mission.cpp
+1
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@@ -679,6 +679,7 @@ Mission::set_mission_items()
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
_mission_item.vtol_back_transition = true;
}
/* transition to MC */
src/modules/navigator/mission_block.cpp
+30 -16
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@@ -66,22 +66,23 @@ orb_advert_t actuator_pub_fd;
MissionBlock::MissionBlock(Navigator *navigator, const char *name) :
NavigatorMode(navigator, name),
_mission_item( {0}),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_action_start(0),
_time_wp_reached(0),
_actuators{},
_actuator_pub(nullptr),
_cmd_pub(nullptr),
_param_loiter_min_alt(this, "MIS_LTRMIN_ALT", false),
_param_yaw_timeout(this, "MIS_YAW_TMT", false),
_param_yaw_err(this, "MIS_YAW_ERR", false),
_param_vtol_wv_land(this, "VT_WV_LND_EN", false),
_param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
_param_force_vtol(this, "NAV_FORCE_VT", false)
_mission_item({0}),
_waypoint_position_reached(false),
_waypoint_yaw_reached(false),
_time_first_inside_orbit(0),
_action_start(0),
_time_wp_reached(0),
_actuators{},
_actuator_pub(nullptr),
_cmd_pub(nullptr),
_param_loiter_min_alt(this, "MIS_LTRMIN_ALT", false),
_param_yaw_timeout(this, "MIS_YAW_TMT", false),
_param_yaw_err(this, "MIS_YAW_ERR", false),
_param_vtol_wv_land(this, "VT_WV_LND_EN", false),
_param_vtol_wv_takeoff(this, "VT_WV_TKO_EN", false),
_param_vtol_wv_loiter(this, "VT_WV_LTR_EN", false),
_param_force_vtol(this, "NAV_FORCE_VT", false),
_param_back_trans_dur(this, "VT_B_TRANS_DUR", false)
{
}
@@ -305,6 +306,19 @@ MissionBlock::is_mission_item_reached()
mission_acceptance_radius = _navigator->get_acceptance_radius();
}
/* for vtol back transition calculate acceptance radius based on time and ground speed */
if (_mission_item.vtol_back_transition) {
float groundspeed = sqrtf(_navigator->get_global_position()->vel_n * _navigator->get_global_position()->vel_n +
_navigator->get_global_position()->vel_e * _navigator->get_global_position()->vel_e);
if (_param_back_trans_dur.get() > FLT_EPSILON && groundspeed > FLT_EPSILON
&& groundspeed * _param_back_trans_dur.get() > mission_acceptance_radius) {
mission_acceptance_radius = groundspeed * _param_back_trans_dur.get();
}
}
if (dist >= 0.0f && dist <= mission_acceptance_radius
&& dist_z <= _navigator->get_altitude_acceptance_radius()) {
_waypoint_position_reached = true;
src/modules/navigator/mission_block.h
+1
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@@ -151,6 +151,7 @@ protected:
control::BlockParamInt _param_vtol_wv_takeoff;
control::BlockParamInt _param_vtol_wv_loiter;
control::BlockParamInt _param_force_vtol;
control::BlockParamFloat _param_back_trans_dur;
};
#endif
src/modules/navigator/navigation.h
+8 -7
View File
@@ -124,13 +124,14 @@ struct mission_item_s {
uint16_t do_jump_repeat_count; /**< how many times do jump needs to be done */
uint16_t do_jump_current_count; /**< count how many times the jump has been done */
struct {
uint16_t frame : 4, /**< mission frame ***/
origin : 3, /**< how the mission item was generated */
loiter_exit_xtrack : 1, /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
force_heading : 1, /**< heading needs to be reached ***/
altitude_is_relative : 1, /**< true if altitude is relative from start point */
autocontinue : 1, /**< true if next waypoint should follow after this one */
disable_mc_yaw : 1; /**< weathervane mode */
uint16_t frame : 4, /**< mission frame ***/
origin : 3, /**< how the mission item was generated */
loiter_exit_xtrack : 1, /**< exit xtrack location: 0 for center of loiter wp, 1 for exit location */
force_heading : 1, /**< heading needs to be reached ***/
altitude_is_relative : 1, /**< true if altitude is relative from start point */
autocontinue : 1, /**< true if next waypoint should follow after this one */
disable_mc_yaw : 1, /**< weathervane mode */
vtol_back_transition : 1; /**< part of the vtol back transition sequence */
};
};
#pragma pack(pop)