QuadPlane: Precision Landing(v2) #11339

lukedempsey · 2019-05-13T08:01:21Z

This is a carry-on from @jonathan84clark's original PR (#10378) - adding the precision landing functionality to quadplanes.

I have got it landing consistently in SITL - I'm yet to do a hardware test.

I haven't squashed commits etc yet, as I still have a couple of questions about the code, I'll add them as comments below.

lukedempsey · 2019-05-13T08:12:35Z

ArduPlane/quadplane.cpp

+#endif
+
+    if ((poscontrol.state == QPOS_POSITION2 && plane.auto_state.wp_distance < 2) ||
+        (doing_precision_landing && target.length() < 2)) {


There is similar code in control_loiter (lines 1231-1257) which was previously written that also controls landing state transitions. Wasn't sure to put it there or here - where there is a QPOS_LAND_DESCEND transition already defined.

lukedempsey · 2019-05-13T08:15:19Z

ArduPlane/quadplane.cpp

@@ -2177,6 +2243,23 @@ void QuadPlane::vtol_position_controller(void)
        } else {
            pos_control->set_xy_target(poscontrol.target.x, poscontrol.target.y);
        }
+
+#if PRECISION_LANDING == ENABLED
+        // run precision landing


I'm not fully around pos_control, but it seems that when I override the it with pos_control->set_xy_target(target_pos.x, target_pos.y); there is less authority to move the craft to the target location - it can hover for many seconds approx 3m away from target coordinates horizontally, delaying the Q_POS_DESCEND transition

libraries/SITL/SIM_QuadPlane.cpp

tridge · 2019-05-27T23:49:28Z

thanks for this work!
It does need a rebase, can you do that or do you want me to do that for you?

lukedempsey · 2019-05-28T13:26:15Z

thanks for this work!
It does need a rebase, can you do that or do you want me to do that for you?

No problem, I'll do this tomorrow

tridge

I've added lots of nitpick comments, but this is really pretty good! I look fwd to hearing about testing on a real vehicle

ArduPlane/Log.cpp

ArduPlane/Parameters.h

ArduPlane/quadplane.cpp

tridge · 2019-05-30T10:49:28Z

ArduPlane/quadplane.cpp

-            if (land_icengine_cut != 0) {
-                plane.g2.ice_control.engine_control(0, 0, 0);
+        float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
+        if (doing_precision_landing) {


why the different descent rate handling for precland to normal land?
also, it omits the ICE control in precland case

ArduPlane/quadplane.cpp

tridge · 2019-05-30T10:52:13Z

ArduPlane/quadplane.cpp

-        pos_control->set_alt_target_from_climb_rate(-land_speed_cms, plane.G_Dt, true);
+    case QPOS_LAND_FINAL: {
+        cmb_rate = compute_descent_rate(0.5f, doing_precision_landing);
+        pos_control->set_alt_target_from_climb_rate_ff(cmb_rate, plane.G_Dt, true);


again, why change to _ff, and why change rate at all?

tridge · 2019-05-30T10:53:35Z

ArduPlane/quadplane.cpp

+#endif
+
+    if (poscontrol.state == QPOS_POSITION2 && 
+        ((plane.auto_state.wp_distance < 2) || (doing_precision_landing && target.length() < 2))) {


I think we could abstract this into a function that gets the XY distance to target

ArduPlane/sensors.cpp

tridge · 2019-05-30T10:55:44Z

ArduPlane/precision_landing.cpp

+    int32_t height_above_ground_cm = current_loc.alt;
+
+    // use range finder altitude if it is valid, else try to get terrain alt
+    if (rangefinder_alt_ok()) {


why not use the existing Plane::relative_ground_altitude() function?

I'm quite sure we shouldn't do this - and should stick to passing rangefinder data through to the library here.

If we were to drop down to using the terrain database the errors could be really quite large. Better to be safe here and solely rely on rangefinder data IMO - at least for an initial cut.

lukedempsey · 2019-05-31T04:35:00Z

thanks for this work!
It does need a rebase, can you do that or do you want me to do that for you?

No problem, I'll do this tomorrow

@tridge this branch has previously been kept up to date but merging master into it. Not sure how to squash/rebase this easily. Any advice on what to do? I don't have much experience rebasing.

I'll work through the rest of your notes in the meantime

tridge

looks good now!

jo-m · 2019-08-01T13:10:14Z

@lukedempsey is this going to be merged soon?

davidbuzz · 2019-08-27T00:26:16Z

I poked tridge during the dev call, and he said it needs a rebase, and he might have a try....

CBMUniversal · 2019-10-28T18:50:02Z

Is this still being worked on? Is there a timeline for this being merged?

jonathan84clark · 2019-10-29T13:36:06Z

Hello, I have halted my work on this feature due to feature creep. The changes I made successfully implemented precision landing in quad plane however when I attempted a pull request the ArduPilot team had numerous refactors, optimizations and other improvements they wanted to add before they would allow it to be merged. I was not comfortable implementing the myriad of changes as I no longer have a platform I can test my changes on. Thanks, Jonathan L Clark On Monday, October 28, 2019, 11:50:40 AM PDT, CBMUniversal <notifications@github.com> wrote: Is this still being worked on? Is there a timeline for this being merged? — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

rmackay9 · 2019-10-30T01:31:16Z

I'm not responsible for the plane code but in general a good way to escalate a PR (give it a push towards getting merged) is to add the "DevCallTopic" label (or ask someone like me, tridge, amilcarlucas, etc to add it) and then attend the weekly dev call. I know the timing of the weekly call can be difficult for some locations... but just trying to give some help on the process.

mumble server used for weekly dev call: http://ardupilot.org/dev/docs/ardupilot-mumble-server.html

jonathan84clark · 2019-10-30T15:26:16Z

Thanks for the info but I am currently out of the UAV space. I was working for a UAV company when I worked on precision landing but I have moved on and I am now in a different industry. Thanks, Jonathan L Clark On Tuesday, October 29, 2019, 06:32:10 PM PDT, Randy Mackay <notifications@github.com> wrote: I'm not responsible for the plane code but in general a good way to escalate a PR (give it a push towards getting merged) is to add the "DevCallTopic" label (or ask someone like me, tridge, amilcarlucas, etc to add it) and then attend the weekly dev call. I know the timing of the weekly call can be difficult for some locations... but just trying to give some help on the process. mumble server used for weekly dev call: http://ardupilot.org/dev/docs/ardupilot-mumble-server.html — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

jonathan84clark · 2019-10-30T19:34:27Z

I should be clear; I have no intention of completing all of the requested changes and features that were recommended when I submitted this pull request. I personally feel that those requests are outside the scope of my task; implementing precision landing in quadplane and represent scope creep.
Additionally it would be extremely high-risk for me to make any additional changes as I no longer have a platform to test on.
I stand by my original code change; it worked on the day I submitted my pull request. I have documented video evidence of its functionality. However without access to test platforms I cannot confirm it will work today (I can't deny it either).

tridge · 2020-08-02T02:02:16Z

I have rebased this on master

ohitstarik · 2021-03-30T16:32:44Z

Any updates on this? I'm trying to build tree precLand, i've also tried c131054c1a5959233a078725691ddad2070cb016
and as it sits and it falls apart when it gets to uavcan on both ends

i'd love to get this running and help out if possible

edit: turns out it was just a problem with the way i was cloning the git. i was doing git download and doing git submodule udpate --recursive after, just doing git clone --recursive fixed this.

coming across this in the precland tree next

edit2: again a problem with how i was setting up my build environment (didnt update submodules after changing trees, a folder name had a space in it and make didnt like that, etc etc)

got it to compile and put it onto a cubeBlack board. Accidentally compiled and uploaded arducopter first, worked great, compiled arduplane after and missionplanner wont pick up any heartbeats now.

peterbarker · 2021-04-14T02:27:07Z

I've rebased this on master, having already merged some of the patches (which needed @rmackay9 's approval)

I've also fixed several things I spotted - the update rate we pass into AC_PrecLand on construction must be the same as that in the scheduler table; the library itself takes the minimum of that and the scheduler loop rate to determine its buffer sizes.

There are still several more issues to cross here.

Not really the estimator's job to run the prediction step

Just because we're getting in-range readings from the rangefinder doesn't mean we have a non-zero de-glitched value. This change also clarifies that unless we pass "true" in for rangefinder_alt_valid then the altitude is unused.

ddomit · 2021-05-26T01:36:49Z

I've rebased this on master, having already merged some of the patches (which needed @rmackay9 's approval)

I've also fixed several things I spotted - the update rate we pass into AC_PrecLand on construction must be the same as that in the scheduler table; the library itself takes the minimum of that and the scheduler loop rate to determine its buffer sizes.

There are still several more issues to cross here.

@peterbarker Hi peter! Just wondering if there is anything i can help with to have this feature implemented into quadplane

davidbuzz · 2021-07-22T22:29:19Z

i think if @tridge and @peterbarker have both massaged the code thru forced-pushes AND tridge has written 'looks good' , then this is simply a merge-on-ci-pass now.

peterbarker · 2021-08-19T08:15:36Z

I'm removing MergeOnCIPass. At the very least the scope of rebasing required would mean this would need another thorough review.

markcfong561 · 2022-08-01T17:36:17Z

Is this going to be merge to master anytime soon?

ddomit · 2022-08-01T21:16:33Z

Is this going to be merge to master anytime soon?

+1

markcfong561 · 2022-08-03T17:05:12Z

Are there at least any updates on whether this will be added to the next release of arduplane?

julled · 2022-12-20T22:50:54Z

+1 i would be also very interested in getting this into mainline

tridge · 2024-03-03T07:55:11Z

i've decided to do this with lua scripts for flexibility: #26380

lukedempsey changed the title ~~Precision Landing for Quadplane (v2)~~ QuadPlane: Precision Landing(v2) May 13, 2019

lukedempsey commented May 13, 2019

View reviewed changes

IamPete1 added NeedAnswer VTOL-Plane labels May 13, 2019

OXINARF added the WIP label May 20, 2019

peterbarker added the DevCallTopic label May 23, 2019

peterbarker removed the DevCallTopic label May 28, 2019

tridge requested changes May 30, 2019

View reviewed changes

tridge force-pushed the precLandQuadPlane branch 3 times, most recently from 1433142 to d158944 Compare May 31, 2019 10:15

tridge approved these changes May 31, 2019

View reviewed changes

tridge force-pushed the precLandQuadPlane branch from e2aa58a to 7863d67 Compare May 31, 2019 11:06

auturgy mentioned this pull request Aug 10, 2019

GUIDED_ENABLE for arduplane #12005

Closed

davidbuzz added the DevCallTopic label Aug 27, 2019

CraigElder removed the DevCallTopic label Aug 27, 2019

IamPete1 mentioned this pull request Jan 14, 2020

Support for precision landing in plane #13263

Closed

tridge force-pushed the precLandQuadPlane branch from 1e30d2a to c131054 Compare August 2, 2020 02:02

peterbarker force-pushed the precLandQuadPlane branch from c131054 to f4915c0 Compare April 14, 2021 02:23

peterbarker mentioned this pull request Apr 14, 2021

Precision Landing for Quadplane #10378

Closed

peterbarker force-pushed the precLandQuadPlane branch 2 times, most recently from 0c08c96 to bc74036 Compare April 14, 2021 06:19

tridge and others added 8 commits April 15, 2021 11:25

RC_Channel: added precision loiter for plane

4237503

Plane: support precision landing in quadplanes

17b2196

AC_PrecLand: factor out run_estimator_raw and run_estimator_ekf

95e7e2f

AC_PrecLand: reindent run_estimator_raw and run_estimator_ekf

e2362cc

AC_PrecLand: move output prediction up into common code

704becf

Not really the estimator's job to run the prediction step

AC_PrecLand: remove redundant nullptr check

a282ed4

Copter: correct height used for PrecLand

b4f6365

Just because we're getting in-range readings from the rangefinder doesn't mean we have a non-zero de-glitched value. This change also clarifies that unless we pass "true" in for rangefinder_alt_valid then the altitude is unused.

AC_PrecLand: tidy construct_pos_meas_using_rangefinder

14fd82a

peterbarker force-pushed the precLandQuadPlane branch from bc74036 to 14fd82a Compare April 15, 2021 05:23

davidbuzz added MergeOnCIPass and removed WIP labels Jul 22, 2021

peterbarker removed the MergeOnCIPass label Aug 19, 2021

Rouniy mentioned this pull request Nov 27, 2021

Ported the precision landing/IR-LOCK system into Quadplane V3 #19377

Closed

aralce mentioned this pull request Feb 10, 2022

Swarmly/prec landing #20049

Closed

Ognev-p mentioned this pull request May 14, 2022

Initial PLD implementation #20761

Closed

rahulOCR mentioned this pull request Dec 6, 2023

Precision landing for Quadplane 4.3.3 #25716

Closed

tridge closed this Mar 3, 2024

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QuadPlane: Precision Landing(v2) #11339

QuadPlane: Precision Landing(v2) #11339

lukedempsey commented May 13, 2019

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tridge commented May 27, 2019

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tridge commented Aug 2, 2020

ohitstarik commented Mar 30, 2021 •

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tridge commented Mar 3, 2024

QuadPlane: Precision Landing(v2) #11339

QuadPlane: Precision Landing(v2) #11339

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