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Copter: accept do-change-speed during takeoff #25654

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merged 4 commits into from
Dec 5, 2023
Merged

Copter: accept do-change-speed during takeoff #25654

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7dd1eae
Copter: minor comment fix
rmackay9 Nov 28, 2023
30af603
Copter: fix do-change-speed received during takeoff
rmackay9 Nov 28, 2023
3928e25
Copter: set-desired-speed applied to flightmode
rmackay9 Dec 4, 2023
b8fc7fb
Tools: copter do-change-speed autotest checks takeoff
rmackay9 Dec 5, 2023
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8 changes: 1 addition & 7 deletions ArduCopter/Copter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -404,13 +404,7 @@ bool Copter::set_circle_rate(float rate_dps)
// set desired speed (m/s). Used for scripting.
bool Copter::set_desired_speed(float speed)
{
// exit if vehicle is not in auto mode
if (!flightmode->is_autopilot()) {
return false;
}

wp_nav->set_speed_xy(speed * 100.0f);
return true;
return flightmode->set_speed_xy(speed * 100.0f);
}

#if MODE_AUTO_ENABLED == ENABLED
Expand Down
8 changes: 8 additions & 0 deletions ArduCopter/mode.h
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Original file line number Diff line number Diff line change
Expand Up @@ -679,6 +679,7 @@ class ModeAuto : public Mode {
int32_t condition_value; // used in condition commands (eg delay, change alt, etc.)
uint32_t condition_start;

// Land within Auto state
enum class State {
FlyToLocation = 0,
Descending = 1
Expand Down Expand Up @@ -713,6 +714,13 @@ class ModeAuto : public Mode {
float climb_rate; // climb rate in m/s. provided by mission command
uint32_t start_ms; // system time that nav attitude time command was received (used for timeout)
} nav_attitude_time;

// desired speeds
struct {
float xy; // desired speed horizontally in m/s. 0 if unset
float up; // desired speed upwards in m/s. 0 if unset
float down; // desired speed downwards in m/s. 0 if unset
} desired_speed_override;
};

#if AUTOTUNE_ENABLED == ENABLED
Expand Down
20 changes: 19 additions & 1 deletion ArduCopter/mode_auto.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,9 @@ bool ModeAuto::init(bool ignore_checks)
// initialise waypoint and spline controller
wp_nav->wp_and_spline_init();

// initialise desired speed overrides
desired_speed_override = {0, 0, 0};

// set flag to start mission
waiting_to_start = true;

Expand Down Expand Up @@ -370,7 +373,16 @@ bool ModeAuto::wp_start(const Location& dest_loc)
stopping_point = takeoff_complete_pos.tofloat();
}
}
wp_nav->wp_and_spline_init(0, stopping_point);
float des_speed_xy_cm = is_positive(desired_speed_override.xy) ? (desired_speed_override.xy * 100) : 0;
wp_nav->wp_and_spline_init(des_speed_xy_cm, stopping_point);

// override speeds up and down if necessary
if (is_positive(desired_speed_override.up)) {
wp_nav->set_speed_up(desired_speed_override.up * 100.0);
}
if (is_positive(desired_speed_override.down)) {
wp_nav->set_speed_down(desired_speed_override.down * 100.0);
}
}

if (!wp_nav->set_wp_destination_loc(dest_loc)) {
Expand Down Expand Up @@ -585,18 +597,21 @@ bool ModeAuto::use_pilot_yaw(void) const
bool ModeAuto::set_speed_xy(float speed_xy_cms)
{
copter.wp_nav->set_speed_xy(speed_xy_cms);
desired_speed_override.xy = speed_xy_cms * 0.01;
return true;
}

bool ModeAuto::set_speed_up(float speed_up_cms)
{
copter.wp_nav->set_speed_up(speed_up_cms);
desired_speed_override.up = speed_up_cms * 0.01;
return true;
}

bool ModeAuto::set_speed_down(float speed_down_cms)
{
copter.wp_nav->set_speed_down(speed_down_cms);
desired_speed_override.down = speed_down_cms * 0.01;
return true;
}

Expand Down Expand Up @@ -1855,10 +1870,13 @@ void ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
if (cmd.content.speed.target_ms > 0) {
if (cmd.content.speed.speed_type == 2) {
copter.wp_nav->set_speed_up(cmd.content.speed.target_ms * 100.0f);
desired_speed_override.up = cmd.content.speed.target_ms;
} else if (cmd.content.speed.speed_type == 3) {
copter.wp_nav->set_speed_down(cmd.content.speed.target_ms * 100.0f);
desired_speed_override.down = cmd.content.speed.target_ms;
} else {
copter.wp_nav->set_speed_xy(cmd.content.speed.target_ms * 100.0f);
desired_speed_override.xy = cmd.content.speed.target_ms;
}
}
}
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23 changes: 12 additions & 11 deletions Tools/autotest/ArduCopter_Tests/DO_CHANGE_SPEED/mission.txt
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.363262 149.165237 584.090027 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 20.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.362656 149.165072 20.000000 1
3 0 0 178 1.000000 15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360174 149.167908 14.000000 1
5 0 0 178 1.000000 10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.363296 149.169244 18.000000 1
7 0 0 178 1.000000 16.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364115 149.165747 20.000000 1
9 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
QGC WPL 110
0 1 0 16 0 0 0 0 -35.3632620 149.1652370 584.090000 1
1 0 3 22 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 20.000000 1
2 0 3 178 0.00000000 4.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
3 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36265600 149.16507200 20.000000 1
4 0 0 178 1.00000000 15.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
5 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36017400 149.16790800 14.000000 1
6 0 0 178 1.00000000 10.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
7 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36329600 149.16924400 18.000000 1
8 0 0 178 1.00000000 16.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
9 0 3 16 0.00000000 0.00000000 0.00000000 0.00000000 -35.36411500 149.16574700 20.000000 1
10 0 0 20 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.000000 1
13 changes: 10 additions & 3 deletions Tools/autotest/arducopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -9505,22 +9505,29 @@ def DO_CHANGE_SPEED(self):
self.wait_ready_to_arm()
self.arm_vehicle()

self.wait_current_waypoint(2)
self.wait_current_waypoint(1)
self.wait_groundspeed(
3.5, 4.5,
minimum_duration=5,
timeout=60,
)

self.wait_current_waypoint(3)
self.wait_groundspeed(
14.5, 15.5,
minimum_duration=10,
timeout=60,
)

self.wait_current_waypoint(4)
self.wait_current_waypoint(5)
self.wait_groundspeed(
9.5, 11.5,
minimum_duration=10,
timeout=60,
)

self.set_parameter("ANGLE_MAX", 6000)
self.wait_current_waypoint(6)
self.wait_current_waypoint(7)
self.wait_groundspeed(
15.5, 16.5,
minimum_duration=10,
Expand Down
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