flight/modules/PathFollower/vtolautotakeoffcontroller.cpp

   1 /*
   2  ******************************************************************************
   3  *
   4  * @file       vtollandcontroller.cpp
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
   6  * @brief      Vtol landing controller loop
   7  * @see        The GNU Public License (GPL) Version 3
   8  *
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 extern "C" {
  27 #include <openpilot.h>
  28
  29 #include <callbackinfo.h>
  30
  31 #include <math.h>
  32 #include <pid.h>
  33 #include <alarms.h>
  34 #include <CoordinateConversions.h>
  35 #include <sin_lookup.h>
  36 #include <pathdesired.h>
  37 #include <paths.h>
  38 #include "plans.h"
  39 #include <sanitycheck.h>
  40
  41 #include <homelocation.h>
  42 #include <accelstate.h>
  43 #include <vtolpathfollowersettings.h>
  44 #include <flightstatus.h>
  45 #include <flightmodesettings.h>
  46 #include <pathstatus.h>
  47 #include <positionstate.h>
  48 #include <velocitystate.h>
  49 #include <velocitydesired.h>
  50 #include <stabilizationdesired.h>
  51 #include <airspeedstate.h>
  52 #include <attitudestate.h>
  53 #include <takeofflocation.h>
  54 #include <poilocation.h>
  55 #include <manualcontrolcommand.h>
  56 #include <systemsettings.h>
  57 #include <stabilizationbank.h>
  58 #include <stabilizationdesired.h>
  59 #include <vtolselftuningstats.h>
  60 #include <statusvtolautotakeoff.h>
  61 #include <pathsummary.h>
  62 }
  63
  64 // C++ includes
  65 #include "vtolautotakeoffcontroller.h"
  66 #include "pathfollowerfsm.h"
  67 #include "vtolautotakeofffsm.h"
  68 #include "pidcontroldown.h"
  69
  70 // Private constants
  71 #define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN             2.0f
  72 #define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX             50.0f
  73 #define AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT         0.2f
  74 #define AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START 0.3f
  75 #define AUTOTAKEOFF_THROTTLE_ABORT_LIMIT                  0.1f
  76
  77 // pointer to a singleton instance
  78 VtolAutoTakeoffController *VtolAutoTakeoffController::p_inst = 0;
  79
  80 VtolAutoTakeoffController::VtolAutoTakeoffController()
  81     : fsm(0), vtolPathFollowerSettings(0), mActive(false)
  82 {}
  83
  84 // Called when mode first engaged
  85 void VtolAutoTakeoffController::Activate(void)
  86 {
  87     if (!mActive) {
  88         mActive   = true;
  89         mOverride = true;
  90         SettingsUpdated();
  91         fsm->Activate();
  92         controlDown.Activate();
  93         controlNE.Activate();
  94         autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
  95         // We only allow takeoff if the state transition of disarmed to armed occurs
  96         // whilst in the autotake flight mode
  97         FlightStatusData flightStatus;
  98         FlightStatusGet(&flightStatus);
  99         StabilizationDesiredData stabiDesired;
 100         StabilizationDesiredGet(&stabiDesired);
 101
 102         if (flightStatus.Armed) {
 103             // Are we inflight?
 104             if (stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT || flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
 105                 // ok assume already in flight and just enter position hold
 106                 // if we are not actually inflight this will just be a violent autotakeoff
 107                 autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD;
 108             } else {
 109                 autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST;
 110                 // Note that if this mode was invoked unintentionally whilst in flight, effectively
 111                 // all inputs get ignored and the vtol continues to fly to its previous
 112                 // stabi command.
 113             }
 114         }
 115         fsm->setControlState(autotakeoffState);
 116     }
 117 }
 118
 119 uint8_t VtolAutoTakeoffController::IsActive(void)
 120 {
 121     return mActive;
 122 }
 123
 124 uint8_t VtolAutoTakeoffController::Mode(void)
 125 {
 126     return PATHDESIRED_MODE_AUTOTAKEOFF;
 127 }
 128
 129 // Objective updated in pathdesired, e.g. same flight mode but new target velocity
 130 void VtolAutoTakeoffController::ObjectiveUpdated(void)
 131 {
 132     if (mOverride) {
 133         // override pathDesired from PathPLanner with current position,
 134         // as we deliberately don' not care about the location of the waypoints on the map
 135         float velocity_down;
 136         float autotakeoff_height;
 137         PositionStateData positionState;
 138         PositionStateGet(&positionState);
 139         FlightModeSettingsAutoTakeOffVelocityGet(&velocity_down);
 140         FlightModeSettingsAutoTakeOffHeightGet(&autotakeoff_height);
 141         autotakeoff_height = fabsf(autotakeoff_height);
 142         if (autotakeoff_height < AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN) {
 143             autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN;
 144         } else if (autotakeoff_height > AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX) {
 145             autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX;
 146         }
 147         controlDown.UpdateVelocitySetpoint(velocity_down);
 148         controlNE.UpdateVelocitySetpoint(0.0f, 0.0f);
 149         controlNE.UpdatePositionSetpoint(positionState.North, positionState.East);
 150
 151
 152         controlDown.UpdatePositionSetpoint(positionState.Down - autotakeoff_height);
 153         mOverride = false; // further updates always come from ManualControl and will control horizontal position
 154     } else {
 155         // Set the objective's target velocity
 156
 157         controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN]);
 158         controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH],
 159                                          pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST]);
 160         controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
 161         controlDown.UpdatePositionSetpoint(pathDesired->End.Down);
 162     }
 163 }
 164 void VtolAutoTakeoffController::Deactivate(void)
 165 {
 166     if (mActive) {
 167         mActive = false;
 168         fsm->Inactive();
 169         controlDown.Deactivate();
 170         controlNE.Deactivate();
 171     }
 172 }
 173
 174 // AutoTakeoff Uses different vertical velocity PID.
 175 void VtolAutoTakeoffController::SettingsUpdated(void)
 176 {
 177     const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
 178
 179     controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
 180                                vtolPathFollowerSettings->HorizontalVelPID.Ki,
 181                                vtolPathFollowerSettings->HorizontalVelPID.Kd,
 182                                vtolPathFollowerSettings->HorizontalVelPID.Beta,
 183                                dT,
 184                                vtolPathFollowerSettings->HorizontalVelMax);
 185
 186
 187     controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
 188     controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
 189
 190     controlDown.UpdateParameters(vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Kp,
 191                                  vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Ki,
 192                                  vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Kd,
 193                                  vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Beta,
 194                                  dT,
 195                                  vtolPathFollowerSettings->VerticalVelMax);
 196     controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
 197     VtolSelfTuningStatsData vtolSelfTuningStats;
 198     VtolSelfTuningStatsGet(&vtolSelfTuningStats);
 199     controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
 200     controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
 201     fsm->SettingsUpdated();
 202 }
 203
 204 // AutoTakeoff Uses a different FSM to its parent
 205 int32_t VtolAutoTakeoffController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
 206 {
 207     PIOS_Assert(ptr_vtolPathFollowerSettings);
 208     vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
 209
 210     if (fsm == 0) {
 211         fsm = VtolAutoTakeoffFSM::instance();
 212         VtolAutoTakeoffFSM::instance()->Initialize(vtolPathFollowerSettings, pathDesired, flightStatus);
 213         controlDown.Initialize(fsm);
 214     }
 215     return 0;
 216 }
 217
 218
 219 void VtolAutoTakeoffController::UpdateVelocityDesired()
 220 {
 221     VelocityStateData velocityState;
 222
 223     VelocityStateGet(&velocityState);
 224     VelocityDesiredData velocityDesired;
 225     PositionStateData positionState;
 226     PositionStateGet(&positionState);
 227
 228     if (fsm->PositionHoldState()) {
 229         controlDown.UpdatePositionState(positionState.Down);
 230         controlDown.ControlPosition();
 231     }
 232
 233     controlDown.UpdateVelocityState(velocityState.Down);
 234     controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
 235
 236     controlNE.UpdatePositionState(positionState.North, positionState.East);
 237     controlNE.ControlPosition();
 238
 239     velocityDesired.Down  = controlDown.GetVelocityDesired();
 240     float north, east;
 241     controlNE.GetVelocityDesired(&north, &east);
 242     velocityDesired.North = north;
 243     velocityDesired.East  = east;
 244
 245     // update pathstatus
 246     pathStatus->error     = 0.0f;
 247     pathStatus->fractional_progress = 0.0f;
 248     if (fsm->PositionHoldState()) {
 249         pathStatus->fractional_progress = 1.0f;
 250         // note if the takeoff waypoint and the launch position are significantly different
 251         // the above check might need to expand to assessment of north and east.
 252     }
 253     pathStatus->path_direction_north = velocityDesired.North;
 254     pathStatus->path_direction_east  = velocityDesired.East;
 255     pathStatus->path_direction_down  = velocityDesired.Down;
 256
 257     pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
 258     pathStatus->correction_direction_east  = velocityDesired.East - velocityState.East;
 259     pathStatus->correction_direction_down  = velocityDesired.Down - velocityState.Down;
 260
 261     VelocityDesiredSet(&velocityDesired);
 262 }
 263
 264 int8_t VtolAutoTakeoffController::UpdateStabilizationDesired()
 265 {
 266     uint8_t result = 1;
 267     StabilizationDesiredData stabDesired;
 268     AttitudeStateData attitudeState;
 269     StabilizationBankData stabSettings;
 270     float northCommand;
 271     float eastCommand;
 272
 273     StabilizationDesiredGet(&stabDesired);
 274     AttitudeStateGet(&attitudeState);
 275     StabilizationBankGet(&stabSettings);
 276
 277     controlNE.GetNECommand(&northCommand, &eastCommand);
 278     stabDesired.Thrust = controlDown.GetDownCommand();
 279     switch (autotakeoffState) {
 280     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
 281     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
 282     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
 283     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
 284         stabDesired.Thrust = 0.0f;
 285         break;
 286     default:
 287         break;
 288     }
 289
 290     float angle_radians = DEG2RAD(attitudeState.Yaw);
 291     float cos_angle     = cosf(angle_radians);
 292     float sine_angle    = sinf(angle_radians);
 293     float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
 294     stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
 295     stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
 296     stabDesired.StabilizationMode.Roll  = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
 297     stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
 298
 299     ManualControlCommandData manualControl;
 300     ManualControlCommandGet(&manualControl);
 301
 302     stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
 303     stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
 304
 305     // default thrust mode to cruise control
 306     stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
 307
 308     fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
 309     StabilizationDesiredSet(&stabDesired);
 310
 311     return result;
 312 }
 313
 314 void VtolAutoTakeoffController::UpdateAutoPilot()
 315 {
 316     // state machine updates:
 317     // Vtol AutoTakeoff invocation from flight mode requires the following sequence:
 318     // 1. Arming must be done whilst in the AutoTakeOff flight mode
 319     // 2. If the AutoTakeoff flight mode is selected and already armed, requires disarming first
 320     // 3. Wait for armed state
 321     // 4. Once the user increases the throttle position to above 50%, then and only then initiate auto-takeoff.
 322     // 5. Whilst the throttle is < 50% before takeoff, all stick inputs are being ignored.
 323     // 6. If during the autotakeoff sequence, at any stage, if the throttle stick position reduces to less than 10%, landing is initiated.
 324
 325     switch (autotakeoffState) {
 326     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
 327     {
 328         FlightStatusData flightStatus;
 329         FlightStatusGet(&flightStatus);
 330         if (!flightStatus.Armed) {
 331             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
 332             fsm->setControlState(autotakeoffState);
 333         }
 334     }
 335     break;
 336     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
 337     {
 338         FlightStatusData flightStatus;
 339         FlightStatusGet(&flightStatus);
 340         if (flightStatus.Armed) {
 341             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
 342             fsm->setControlState(autotakeoffState);
 343         }
 344     }
 345     break;
 346     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
 347     {
 348         ManualControlCommandData cmd;
 349         ManualControlCommandGet(&cmd);
 350
 351         if (cmd.Throttle > AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START) {
 352             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE;
 353             fsm->setControlState(autotakeoffState);
 354         }
 355     }
 356     break;
 357     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
 358     {
 359         ManualControlCommandData cmd;
 360         ManualControlCommandGet(&cmd);
 361         FlightStatusData flightStatus;
 362         FlightStatusGet(&flightStatus);
 363
 364         // we do not do a takeoff abort in pathplanner mode
 365         if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE &&
 366             cmd.Throttle < AUTOTAKEOFF_THROTTLE_ABORT_LIMIT) {
 367             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT;
 368             fsm->setControlState(autotakeoffState);
 369         }
 370     }
 371     break;
 372
 373     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
 374     {
 375         FlightStatusData flightStatus;
 376         FlightStatusGet(&flightStatus);
 377         if (!flightStatus.Armed) {
 378             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
 379             fsm->setControlState(autotakeoffState);
 380         }
 381     }
 382     break;
 383     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
 384     // nothing to do. land has been requested. stay here for forever until mode change.
 385     default:
 386         break;
 387     }
 388
 389     fsm->Update();
 390
 391     UpdateVelocityDesired();
 392
 393     int8_t result = UpdateStabilizationDesired();
 394     if (result) {
 395         AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
 396     } else {
 397         pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
 398         AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
 399     }
 400
 401     PathStatusSet(pathStatus);
 402 }