diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h index b6d5ce552fb2a..6a4b5d665a74e 100644 --- a/ArduCopter/Copter.h +++ b/ArduCopter/Copter.h @@ -236,6 +236,8 @@ class Copter : public AP_Vehicle { friend class ModeTurtle; friend class AP_ExternalControl_Copter; + friend class PayloadPlace; + Copter(void); private: diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h index d5c55be60fea1..7f1175552537b 100644 --- a/ArduCopter/defines.h +++ b/ArduCopter/defines.h @@ -76,18 +76,6 @@ enum class AirMode { AIRMODE_ENABLED, }; -enum PayloadPlaceStateType { - PayloadPlaceStateType_FlyToLocation, - PayloadPlaceStateType_Descent_Start, - PayloadPlaceStateType_Descent, - PayloadPlaceStateType_Release, - PayloadPlaceStateType_Releasing, - PayloadPlaceStateType_Delay, - PayloadPlaceStateType_Ascent_Start, - PayloadPlaceStateType_Ascent, - PayloadPlaceStateType_Done, -}; - // bit options for DEV_OPTIONS parameter enum DevOptions { DevOptionADSBMAVLink = 1, diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index 888bb87025fe5..e1050e3e7ce40 100644 --- a/ArduCopter/mode.cpp +++ b/ArduCopter/mode.cpp @@ -25,6 +25,8 @@ Mode::Mode(void) : G_Dt(copter.G_Dt) { }; +PayloadPlace Mode::payload_place; + // return the static controller object corresponding to supplied mode Mode *Copter::mode_from_mode_num(const Mode::Number mode) { diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 28c78411797a8..bf550d84b47cc 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -8,7 +8,38 @@ class ParametersG2; class GCS_Copter; +class PayloadPlace { +public: + void init(float descent_max); + void run(); + bool done(){return state == State::Done;} + + enum class State : uint8_t { + Descent_Start, + Descent, + Release, + Releasing, + Delay, + Ascent_Start, + Ascent, + Done, + }; + + // these are set by the Mission code: + State state = State::Descent_Start; // records state of payload place + float descent_max_cm; + bool horizontal_control = true; + +private: + uint32_t descent_established_time_ms; // milliseconds + uint32_t place_start_time_ms; // milliseconds + float descent_thrust_level; + float descent_start_altitude_cm; + float descent_speed_cms; +}; + class Mode { + friend class PayloadPlace; public: @@ -144,6 +175,9 @@ class Mode { land_run_vertical_control(pause_descent); } + // payload place flight behaviour: + static PayloadPlace payload_place; + // run normal or precision landing (if enabled) // pause_descent is true if vehicle should not descend void land_run_normal_or_precland(bool pause_descent = false); @@ -423,10 +457,11 @@ class ModeAltHold : public Mode { }; - class ModeAuto : public Mode { public: + friend class PayloadPlace; // in case wp_run is accidentally required + // inherit constructor using Mode::Mode; Number mode_number() const override { return auto_RTL? Number::AUTO_RTL : Number::AUTO; } @@ -548,10 +583,6 @@ class ModeAuto : public Mode { Location loc_from_cmd(const AP_Mission::Mission_Command& cmd, const Location& default_loc) const; void payload_place_run(); - bool payload_place_run_should_run(); - void payload_place_run_hover(); - void payload_place_run_descent(); - void payload_place_run_release(); SubMode _mode = SubMode::TAKEOFF; // controls which auto controller is run @@ -640,16 +671,6 @@ class ModeAuto : public Mode { }; State state = State::FlyToLocation; - struct { - PayloadPlaceStateType state = PayloadPlaceStateType_Descent_Start; // records state of payload place - uint32_t descent_established_time_ms; // milliseconds - uint32_t place_start_time_ms; // milliseconds - float descent_thrust_level; - float descent_start_altitude_cm; - float descent_speed_cms; - float descent_max_cm; - } nav_payload_place; - bool waiting_to_start; // true if waiting for vehicle to be armed or EKF origin before starting mission // True if we have entered AUTO to perform a DO_LAND_START landing sequence and we should report as AUTO RTL mode diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index cdf41a4f7aa47..630a8e255f0df 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -565,8 +565,6 @@ void ModeAuto::payload_place_start() // set submode set_submode(SubMode::NAV_PAYLOAD_PLACE); - - nav_payload_place.state = PayloadPlaceStateType_Descent_Start; } // returns true if pilot's yaw input should be used to adjust vehicle's heading @@ -1162,118 +1160,145 @@ void ModeAuto::nav_attitude_time_run() // called by auto_run at 100hz or more void ModeAuto::payload_place_run() { - const char* prefix_str = "PayloadPlace:"; - if (!payload_place_run_should_run()) { - zero_throttle_and_relax_ac(); + // if not armed set throttle to zero and exit immediately + if (is_disarmed_or_landed()) { + make_safe_ground_handling(); return; } // set motors to full range motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); + + Vector2f accel; + Vector2f vel; + pos_control->input_vel_accel_xy(vel, accel); + // run pos controller + pos_control->update_xy_controller(); + Vector3f thrust_vector = pos_control->get_thrust_vector(); + // call attitude controller + attitude_control->input_thrust_vector_heading(thrust_vector, auto_yaw.get_heading()); + + payload_place.run(); +} + +// auto_payload_place_run - places an object in auto mode +// called by auto_run at 100hz or more +void PayloadPlace::init(float descent_max) +{ + // Set payload place variables + descent_max_cm = descent_max; + state = State::Descent_Start; +} + +// auto_payload_place_run - places an object in auto mode +// called by auto_run at 100hz or more +void PayloadPlace::run() +{ + const char* prefix_str = "PayloadPlace:"; + + // set motors to full range + copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); const uint32_t descent_thrust_cal_duration_ms = 2000; // milliseconds const uint32_t placed_check_duration_ms = 500; // how long we have to be below a throttle threshold before considering placed // Vertical thrust is taken from the attitude controller before angle boost is added + auto *attitude_control = copter.attitude_control; const float thrust_level = attitude_control->get_throttle_in(); const uint32_t now_ms = AP_HAL::millis(); // if we discover we've landed then immediately release the load: if (copter.ap.land_complete || copter.ap.land_complete_maybe) { - switch (nav_payload_place.state) { - case PayloadPlaceStateType_FlyToLocation: - // this is handled in wp_run() - break; - case PayloadPlaceStateType_Descent_Start: + switch (state) { + case State::Descent_Start: // do nothing on this loop break; - case PayloadPlaceStateType_Descent: + case State::Descent: gcs().send_text(MAV_SEVERITY_INFO, "%s landed", prefix_str); - nav_payload_place.state = PayloadPlaceStateType_Release; + state = State::Release; break; - case PayloadPlaceStateType_Release: - case PayloadPlaceStateType_Releasing: - case PayloadPlaceStateType_Delay: - case PayloadPlaceStateType_Ascent_Start: - case PayloadPlaceStateType_Ascent: - case PayloadPlaceStateType_Done: + case State::Release: + case State::Releasing: + case State::Delay: + case State::Ascent_Start: + case State::Ascent: + case State::Done: break; } } #if AP_GRIPPER_ENABLED == ENABLED // if pilot releases load manually: - if (g2.gripper.valid() && g2.gripper.released()) { - switch (nav_payload_place.state) { - case PayloadPlaceStateType_FlyToLocation: - case PayloadPlaceStateType_Descent_Start: - set_submode(SubMode::NAV_PAYLOAD_PLACE); + if (AP::gripper() != nullptr && + AP::gripper()->valid() && AP::gripper()->released()) { + switch (state) { + case State::Descent_Start: gcs().send_text(MAV_SEVERITY_INFO, "%s Manual release", prefix_str); - nav_payload_place.state = PayloadPlaceStateType_Done; + state = State::Done; break; - case PayloadPlaceStateType_Descent: + case State::Descent: gcs().send_text(MAV_SEVERITY_INFO, "%s Manual release", prefix_str); - nav_payload_place.state = PayloadPlaceStateType_Release; + state = State::Release; break; - case PayloadPlaceStateType_Release: - case PayloadPlaceStateType_Releasing: - case PayloadPlaceStateType_Delay: - case PayloadPlaceStateType_Ascent_Start: - case PayloadPlaceStateType_Ascent: - case PayloadPlaceStateType_Done: + case State::Release: + case State::Releasing: + case State::Delay: + case State::Ascent_Start: + case State::Ascent: + case State::Done: break; } } #endif - switch (nav_payload_place.state) { - case PayloadPlaceStateType_FlyToLocation: - if (copter.wp_nav->reached_wp_destination()) { - payload_place_start(); - } - break; + auto &inertial_nav = copter.inertial_nav; + auto &g2 = copter.g2; + const auto &g = copter.g; + const auto &wp_nav = copter.wp_nav; + const auto &pos_control = copter.pos_control; - case PayloadPlaceStateType_Descent_Start: - nav_payload_place.descent_established_time_ms = now_ms; - nav_payload_place.descent_start_altitude_cm = inertial_nav.get_position_z_up_cm(); + switch (state) { + case State::Descent_Start: + descent_established_time_ms = now_ms; + descent_start_altitude_cm = inertial_nav.get_position_z_up_cm(); // limiting the decent rate to the limit set in wp_nav is not necessary but done for safety - nav_payload_place.descent_speed_cms = MIN((is_positive(g2.pldp_descent_speed_ms)) ? g2.pldp_descent_speed_ms * 100.0 : abs(g.land_speed), wp_nav->get_default_speed_down()); - nav_payload_place.descent_thrust_level = 1.0; - nav_payload_place.state = PayloadPlaceStateType_Descent; + descent_speed_cms = MIN((is_positive(g2.pldp_descent_speed_ms)) ? g2.pldp_descent_speed_ms * 100.0 : abs(g.land_speed), wp_nav->get_default_speed_down()); + descent_thrust_level = 1.0; + state = State::Descent; FALLTHROUGH; - case PayloadPlaceStateType_Descent: + case State::Descent: // check maximum decent distance - if (!is_zero(nav_payload_place.descent_max_cm) && - nav_payload_place.descent_start_altitude_cm - inertial_nav.get_position_z_up_cm() > nav_payload_place.descent_max_cm) { - nav_payload_place.state = PayloadPlaceStateType_Ascent_Start; + if (!is_zero(descent_max_cm) && + descent_start_altitude_cm - inertial_nav.get_position_z_up_cm() > descent_max_cm) { + state = State::Ascent_Start; gcs().send_text(MAV_SEVERITY_WARNING, "%s Reached maximum descent", prefix_str); break; } // calibrate the decent thrust after aircraft has reached constant decent rate and release if threshold is reached - if (pos_control->get_vel_desired_cms().z > -0.95 * nav_payload_place.descent_speed_cms) { + if (pos_control->get_vel_desired_cms().z > -0.95 * descent_speed_cms) { // decent rate has not reached descent_speed_cms - nav_payload_place.descent_established_time_ms = now_ms; + descent_established_time_ms = now_ms; break; - } else if (now_ms - nav_payload_place.descent_established_time_ms < descent_thrust_cal_duration_ms) { + } else if (now_ms - descent_established_time_ms < descent_thrust_cal_duration_ms) { // record minimum thrust for descent_thrust_cal_duration_ms - nav_payload_place.descent_thrust_level = MIN(nav_payload_place.descent_thrust_level, thrust_level); - nav_payload_place.place_start_time_ms = now_ms; + descent_thrust_level = MIN(descent_thrust_level, thrust_level); + place_start_time_ms = now_ms; break; - } else if (thrust_level > g2.pldp_thrust_placed_fraction * nav_payload_place.descent_thrust_level) { + } else if (thrust_level > g2.pldp_thrust_placed_fraction * descent_thrust_level) { // thrust is above minimum threshold - nav_payload_place.place_start_time_ms = now_ms; + place_start_time_ms = now_ms; break; } else if (is_positive(g2.pldp_range_finder_minimum_m)) { if (!copter.rangefinder_state.enabled) { // abort payload place because rangefinder is not enabled - nav_payload_place.state = PayloadPlaceStateType_Ascent_Start; + state = State::Ascent_Start; gcs().send_text(MAV_SEVERITY_WARNING, "%s PLDP_RNG_MIN set and rangefinder not enabled", prefix_str); break; } else if (copter.rangefinder_alt_ok() && (copter.rangefinder_state.glitch_count == 0) && (copter.rangefinder_state.alt_cm > g2.pldp_range_finder_minimum_m * 100.0)) { // range finder altitude is above minimum - nav_payload_place.place_start_time_ms = now_ms; + place_start_time_ms = now_ms; break; } } @@ -1287,57 +1312,63 @@ void ModeAuto::payload_place_run() // payload touchdown must be detected for 0.5 seconds - if (now_ms - nav_payload_place.place_start_time_ms > placed_check_duration_ms) { - nav_payload_place.state = PayloadPlaceStateType_Release; - gcs().send_text(MAV_SEVERITY_INFO, "%s payload release thrust threshold: %f", prefix_str, static_cast(g2.pldp_thrust_placed_fraction * nav_payload_place.descent_thrust_level)); + if (now_ms - place_start_time_ms > placed_check_duration_ms) { + state = State::Release; + gcs().send_text(MAV_SEVERITY_INFO, "%s payload release thrust threshold: %f", prefix_str, static_cast(g2.pldp_thrust_placed_fraction * descent_thrust_level)); } break; - case PayloadPlaceStateType_Release: + case State::Release: // Reinitialise vertical position controller to remove discontinuity due to touch down of payload pos_control->init_z_controller_no_descent(); #if AP_GRIPPER_ENABLED == ENABLED if (g2.gripper.valid()) { gcs().send_text(MAV_SEVERITY_INFO, "%s Releasing the gripper", prefix_str); g2.gripper.release(); - nav_payload_place.state = PayloadPlaceStateType_Releasing; + state = State::Releasing; } else { - nav_payload_place.state = PayloadPlaceStateType_Delay; + state = State::Delay; } #else - nav_payload_place.state = PayloadPlaceStateType_Delay; + state = State::Delay; #endif break; - case PayloadPlaceStateType_Releasing: + case State::Releasing: #if AP_GRIPPER_ENABLED == ENABLED if (g2.gripper.valid() && !g2.gripper.released()) { break; } #endif - nav_payload_place.state = PayloadPlaceStateType_Delay; + state = State::Delay; FALLTHROUGH; - case PayloadPlaceStateType_Delay: + case State::Delay: // If we get here we have finished releasing the gripper - if (now_ms - nav_payload_place.place_start_time_ms < placed_check_duration_ms + g2.pldp_delay_s * 1000.0) { + if (now_ms - place_start_time_ms < placed_check_duration_ms + g2.pldp_delay_s * 1000.0) { break; } FALLTHROUGH; - case PayloadPlaceStateType_Ascent_Start: { - auto_takeoff_start(nav_payload_place.descent_start_altitude_cm, false); - nav_payload_place.state = PayloadPlaceStateType_Ascent; + case State::Ascent_Start: { + copter.flightmode->auto_takeoff_start(descent_start_altitude_cm, false); + state = State::Ascent; } break; - case PayloadPlaceStateType_Ascent: - if (auto_takeoff_complete) { - nav_payload_place.state = PayloadPlaceStateType_Done; + case State::Ascent: { + // Ascent complete when we are less than 1% of the stopping distance from the target altitude + // stopping distance from vel_threshold_fraction * max velocity + const float vel_threshold_fraction = 0.1; + const float stop_distance = 0.5 * sq(vel_threshold_fraction * copter.pos_control->get_max_speed_up_cms()) / copter.pos_control->get_max_accel_z_cmss(); + bool reached_altitude = copter.pos_control->get_pos_target_z_cm() >= descent_start_altitude_cm - stop_distance; + if (reached_altitude) { + state = State::Done; + } } break; - case PayloadPlaceStateType_Done: + case State::Done: break; default: // this should never happen @@ -1345,59 +1376,25 @@ void ModeAuto::payload_place_run() break; } - switch (nav_payload_place.state) { - case PayloadPlaceStateType_FlyToLocation: - // this should never happen - return wp_run(); - case PayloadPlaceStateType_Descent_Start: - case PayloadPlaceStateType_Descent: - return payload_place_run_descent(); - case PayloadPlaceStateType_Release: - case PayloadPlaceStateType_Releasing: - case PayloadPlaceStateType_Delay: - case PayloadPlaceStateType_Ascent_Start: - return payload_place_run_hover(); - case PayloadPlaceStateType_Ascent: - case PayloadPlaceStateType_Done: - return takeoff_run(); - } -} - -bool ModeAuto::payload_place_run_should_run() -{ - // must be armed - if (!motors->armed()) { - return false; - } - // must be auto-armed - if (!copter.ap.auto_armed) { - return false; - } - // must not be landed - if (copter.ap.land_complete && (nav_payload_place.state == PayloadPlaceStateType_FlyToLocation || nav_payload_place.state == PayloadPlaceStateType_Descent_Start)) { - return false; - } - // interlock must be enabled (i.e. unsafe) - if (!motors->get_interlock()) { - return false; + // update altitude target and + switch (state) { + case State::Descent_Start: + case State::Descent: + pos_control->land_at_climb_rate_cm(-descent_speed_cms, true); + break; + case State::Release: + case State::Releasing: + case State::Delay: + case State::Ascent_Start: + pos_control->land_at_climb_rate_cm(0.0, false); + break; + case State::Ascent: + case State::Done: + float vel = 0.0; + pos_control->input_pos_vel_accel_z(descent_start_altitude_cm, vel, 0.0); + break; } - - return true; -} - -void ModeAuto::payload_place_run_hover() -{ - land_run_horizontal_control(); - // update altitude target and call position controller - pos_control->land_at_climb_rate_cm(0.0, false); - pos_control->update_z_controller(); -} - -void ModeAuto::payload_place_run_descent() -{ - land_run_horizontal_control(); - // update altitude target and call position controller - pos_control->land_at_climb_rate_cm(-nav_payload_place.descent_speed_cms, true); + // Call position controller pos_control->update_z_controller(); } @@ -1926,10 +1923,14 @@ void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd) // do_payload_place - initiate placing procedure void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd) { + // To-Do: check if we have already landed + + payload_place.init(cmd.p1); + // if location provided we fly to that location at current altitude if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) { // set state to fly to location - nav_payload_place.state = PayloadPlaceStateType_FlyToLocation; + state = State::FlyToLocation; // convert cmd to location class Location target_loc(cmd.content.location); @@ -1945,13 +1946,13 @@ void ModeAuto::do_payload_place(const AP_Mission::Mission_Command& cmd) copter.failsafe_terrain_on_event(); return; } - // set submode - set_submode(SubMode::NAV_PAYLOAD_PLACE); } else { + // set landing state + state = State::Descending; + // initialise placing controller payload_place_start(); } - nav_payload_place.descent_max_cm = cmd.p1; } // do_RTL - start Return-to-Launch @@ -2025,21 +2026,35 @@ bool ModeAuto::verify_land() // verify_payload_place - returns true if placing has been completed bool ModeAuto::verify_payload_place() { - switch (nav_payload_place.state) { - case PayloadPlaceStateType_FlyToLocation: - case PayloadPlaceStateType_Descent_Start: - case PayloadPlaceStateType_Descent: - case PayloadPlaceStateType_Release: - case PayloadPlaceStateType_Releasing: - case PayloadPlaceStateType_Delay: - case PayloadPlaceStateType_Ascent_Start: - case PayloadPlaceStateType_Ascent: - return false; - case PayloadPlaceStateType_Done: - return true; + bool retval = false; + + switch (state) { + case State::FlyToLocation: + // check if we've reached the location + if (copter.wp_nav->reached_wp_destination()) { + // initialise navigation control parameters + payload_place_start(); + + // advance to next state + state = State::Descending; + } + break; + + case State::Descending: + if (payload_place.done()) { + retval = true; + } + break; + + default: + // this should never happen + INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); + retval = true; + break; } - // should never get here - return true; + + // true is returned if we've successfully landed + return retval; } bool ModeAuto::verify_loiter_unlimited() diff --git 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index 0000000000000..e69de29bb2d1d diff --git a/modules/mavlink b/modules/mavlink index d3746133a503a..6a8b6412b4f9b 160000 --- a/modules/mavlink +++ b/modules/mavlink @@ -1 +1 @@ -Subproject commit d3746133a503a42c06ed9148e3232604ab068dfa +Subproject commit 6a8b6412b4f9b63b5fe82d608e6a18cf0e98de0c