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Navigator RTL fully initialize mission item in each state
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@dagar
dagar committed Nov 14, 2017
1 parent 9c3c557 commit 36f4717
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Showing 2 changed files with 70 additions and 118 deletions.
175 changes: 70 additions & 105 deletions src/modules/navigator/rtl.cpp
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Expand Up @@ -40,29 +40,21 @@
#include "rtl.h"
#include "navigator.h"

#include <geo/geo.h>
#include <cfloat>

#include <mathlib/mathlib.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vtol_vehicle_status.h>
#include <uORB/uORB.h>

static constexpr float DELAY_SIGMA = 0.01f;
using math::max;
using math::min;

RTL::RTL(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_rtl_state(RTL_STATE_NONE),
_param_return_alt(this, "RTL_RETURN_ALT", false),
_param_descend_alt(this, "RTL_DESCEND_ALT", false),
_param_land_delay(this, "RTL_LAND_DELAY", false),
_param_rtl_min_dist(this, "RTL_MIN_DIST", false)
{
/* load initial params */
updateParams();

/* initial reset */
on_inactive();
}

void
Expand All @@ -72,49 +64,23 @@ RTL::on_inactive()
_rtl_state = RTL_STATE_NONE;
}

float
RTL::get_rtl_altitude() const
{
float rtl_alt = _navigator->get_home_position()->alt;

const float alt_max = _navigator->get_land_detected()->alt_max;

if (alt_max > 0) {
rtl_alt += math::min(_param_return_alt.get(), alt_max);

} else {
rtl_alt += _param_return_alt.get();
}

return rtl_alt;
}

void
RTL::on_activation()
{
set_current_position_item(&_mission_item);
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;
pos_sp_triplet->next.valid = false;

/* for safety reasons don't go into RTL if landed */
if (_navigator->get_land_detected()->landed) {
// for safety reasons don't go into RTL if landed
_rtl_state = RTL_STATE_LANDED;

} else if (_rtl_alt_min || _navigator->get_global_position()->alt < get_rtl_altitude()) {
} else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_return_alt.get())
|| _rtl_alt_min) {

/* if lower than return altitude, climb up first */
// if lower than return altitude, climb up first
// if rtl_alt_min is true then forcing altitude change even if above
_rtl_state = RTL_STATE_CLIMB;

} else {
/* otherwise go straight to return */
// otherwise go straight to return
_rtl_state = RTL_STATE_RETURN;

/* set altitude setpoint to current altitude */
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_global_position()->alt;
}

set_rtl_item();
Expand All @@ -138,75 +104,72 @@ RTL::set_return_alt_min(bool min)
void
RTL::set_rtl_item()
{
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

_navigator->set_can_loiter_at_sp(false);

const home_position_s &home = *_navigator->get_home_position();
const vehicle_global_position_s &gpos = *_navigator->get_global_position();

position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

switch (_rtl_state) {
case RTL_STATE_CLIMB: {

// check if we are pretty close to home already
float home_dist = get_distance_to_next_waypoint(_navigator->get_home_position()->lat,
_navigator->get_home_position()->lon,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);

// if we are close to home we do not climb as high, otherwise we climb to return alt
float climb_alt = get_rtl_altitude();
float climb_alt = home.alt + _param_return_alt.get();

// we are close to home, limit climb to min
if (home_dist < _param_rtl_min_dist.get()) {
climb_alt = _navigator->get_home_position()->alt + _param_descend_alt.get();
climb_alt = home.alt + _param_descend_alt.get();
}

_mission_item.lat = _navigator->get_global_position()->lat;
_mission_item.lon = _navigator->get_global_position()->lon;
_mission_item.altitude_is_relative = false;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.lat = gpos.lat;
_mission_item.lon = gpos.lon;
_mission_item.altitude = climb_alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;

mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: climb to %d m (%d m above home)",
(int)(climb_alt),
(int)(climb_alt - _navigator->get_home_position()->alt));
(int)(climb_alt), (int)(climb_alt - _navigator->get_home_position()->alt));
break;
}

case RTL_STATE_RETURN: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;

// don't change altitude
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.lat = home.lat;
_mission_item.lon = home.lon;
_mission_item.altitude = gpos.alt;
_mission_item.altitude_is_relative = false;

// use home yaw if close to home
/* check if we are pretty close to home already */
float home_dist = get_distance_to_next_waypoint(_navigator->get_home_position()->lat,
_navigator->get_home_position()->lon,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);

if (home_dist < _param_rtl_min_dist.get()) {
_mission_item.yaw = _navigator->get_home_position()->yaw;
_mission_item.yaw = home.yaw;

} else {
// use current heading to home
_mission_item.yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_navigator->get_home_position()->lat, _navigator->get_home_position()->lon);
_mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, home.lat, home.lon);
}

_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;

mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: return at %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
(int)(_mission_item.altitude), (int)(_mission_item.altitude - home.alt));

break;
}

Expand All @@ -217,31 +180,22 @@ RTL::set_rtl_item()
}

case RTL_STATE_DESCEND: {
_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.lat = home.lat;
_mission_item.lon = home.lon;
_mission_item.altitude = min(home.alt + _param_descend_alt.get(), gpos.alt);
_mission_item.altitude_is_relative = false;
_mission_item.altitude = _navigator->get_home_position()->alt + _param_descend_alt.get();

// check if we are already lower - then we will just stay there
if (_mission_item.altitude > _navigator->get_global_position()->alt) {
_mission_item.altitude = _navigator->get_global_position()->alt;
}
// except for vtol which might be still off here and should point towards this location
const float d_current = get_distance_to_next_waypoint(gpos.lat, gpos.lon, _mission_item.lat, _mission_item.lon);

_mission_item.yaw = _navigator->get_home_position()->yaw;
if (_navigator->get_vstatus()->is_vtol && (d_current > _navigator->get_acceptance_radius())) {
_mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _mission_item.lat, _mission_item.lon);

// except for vtol which might be still off here and should point towards this location
float d_current = get_distance_to_next_waypoint(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_mission_item.lat, _mission_item.lon);

if (_navigator->get_vstatus()->is_vtol && d_current > _navigator->get_acceptance_radius()) {
_mission_item.yaw = get_bearing_to_next_waypoint(
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_mission_item.lat, _mission_item.lon);
} else {
_mission_item.yaw = home.yaw;
}

_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
Expand All @@ -251,41 +205,52 @@ RTL::set_rtl_item()
pos_sp_triplet->previous.valid = false;

mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: descend to %d m (%d m above home)",
(int)(_mission_item.altitude),
(int)(_mission_item.altitude - _navigator->get_home_position()->alt));
(int)(_mission_item.altitude), (int)(_mission_item.altitude - home.alt));
break;
}

case RTL_STATE_LOITER: {
bool autoland = _param_land_delay.get() > -DELAY_SIGMA;
const bool autoland = (_param_land_delay.get() > FLT_EPSILON);

_mission_item.lat = _navigator->get_home_position()->lat;
_mission_item.lon = _navigator->get_home_position()->lon;
// don't change altitude
_mission_item.yaw = _navigator->get_home_position()->yaw;
_mission_item.lat = home.lat;
_mission_item.lon = home.lon;
_mission_item.altitude = gpos.alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = home.yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get();
_mission_item.time_inside = max(_param_land_delay.get(), 0.0f);
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;

_navigator->set_can_loiter_at_sp(true);

if (autoland && (get_time_inside(_mission_item) > FLT_EPSILON)) {
_mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: loiter %.1fs",
(double)get_time_inside(_mission_item));

} else {
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loiter");
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: completed, loitering");
}

break;
}

case RTL_STATE_LAND: {
set_land_item(&_mission_item, false);
_mission_item.yaw = _navigator->get_home_position()->yaw;
// land at home position
_mission_item.nav_cmd = NAV_CMD_LAND;
_mission_item.lat = home.lat;
_mission_item.lon = home.lon;
_mission_item.yaw = home.yaw;
_mission_item.altitude = home.alt;
_mission_item.altitude_is_relative = false;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;

mavlink_and_console_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at home");
break;
Expand All @@ -310,10 +275,10 @@ RTL::set_rtl_item()

/* convert mission item to current position setpoint and make it valid */
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
pos_sp_triplet->next.valid = false;

_navigator->set_position_setpoint_triplet_updated();
if (mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current)) {
_navigator->set_position_setpoint_triplet_updated();
}
}

void
Expand All @@ -340,7 +305,7 @@ RTL::advance_rtl()
case RTL_STATE_DESCEND:

/* only go to land if autoland is enabled */
if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
if (_param_land_delay.get() > FLT_EPSILON) {
_rtl_state = RTL_STATE_LOITER;

} else {
Expand Down
13 changes: 0 additions & 13 deletions src/modules/navigator/rtl.h
View file
Expand Up @@ -41,13 +41,6 @@
#ifndef NAVIGATOR_RTL_H
#define NAVIGATOR_RTL_H

#include <controllib/blocks.hpp>
#include <controllib/block/BlockParam.hpp>

#include <navigator/navigation.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>

#include "navigator_mode.h"
#include "mission_block.h"

Expand Down Expand Up @@ -76,12 +69,6 @@ class RTL : public MissionBlock
*/
void advance_rtl();

/**
* Get RTL altitude
*/
float get_rtl_altitude() const;


enum RTLState {
RTL_STATE_NONE = 0,
RTL_STATE_CLIMB,
Expand Down

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