void VtolLandFSM::Activate()
{
memset(mLandData, sizeof(VtolLandFSMData_T), 0);
mLandData->currentState = LAND_STATE_INACTIVE;
mLandData->flLowAltitude = false;
mLandData->flAltitudeHold = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->fsmLandStatus.calculatedNeutralThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
TakeOffLocationGet(&(mLandData->takeOffLocation));
mLandData->fsmLandStatus.AltitudeAtState[LAND_STATE_INACTIVE] = 0.0f;
assessAltitude();
if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_INIT_ALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
#else
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
#endif
} else {
// move to error state and callback to position hold
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
}
static void getVector(float controlVector[4], vario_type type)
{
FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset);
// scale controlVector[3] (thrust) by vertical/horizontal to have vertical plane less sensitive
controlVector[3] *= offset.Vertical / offset.Horizontal;
float length = sqrtf(controlVector[0] * controlVector[0] + controlVector[1] * controlVector[1] + controlVector[3] * controlVector[3]);
if (length <= 1e-9f) {
length = 1.0f; // should never happen as getVector is not called if control within deadband
}
{
float direction[3] = {
controlVector[1] / length, // pitch is north
controlVector[0] / length, // roll is east
controlVector[3] / length // thrust is down
};
controlVector[0] = direction[0];
controlVector[1] = direction[1];
controlVector[2] = direction[2];
}
controlVector[3] = length * offset.Horizontal;
// rotate north and east - rotation angle based on type
float angle;
switch (type) {
case NSEW:
angle = 0.0f;
// NSEW no rotation takes place
break;
case FPV:
// local rotation, using current yaw
AttitudeStateYawGet(&angle);
break;
case LOS:
// determine location based on vector from takeoff to current location
{
PositionStateData positionState;
PositionStateGet(&positionState);
TakeOffLocationData takeoffLocation;
TakeOffLocationGet(&takeoffLocation);
angle = RAD2DEG(atan2f(positionState.East - takeoffLocation.East, positionState.North - takeoffLocation.North));
}
break;
}
// rotate horizontally by angle
{
float rotated[2] = {
controlVector[0] * cos_lookup_deg(angle) - controlVector[1] * sin_lookup_deg(angle),
controlVector[0] * sin_lookup_deg(angle) + controlVector[1] * cos_lookup_deg(angle)
};
controlVector[0] = rotated[0];
controlVector[1] = rotated[1];
}
}
/**
* Compute bearing of current takeoff location
*/
float VtolFlyController::updateTailInBearing()
{
PositionStateData p;
PositionStateGet(&p);
TakeOffLocationData t;
TakeOffLocationGet(&t);
// atan2f always returns in between + and - 180 degrees
return RAD2DEG(atan2f(p.East - t.East, p.North - t.North));
}
/**
* @brief setup pathplanner/pathfollower for return to base
*/
void plan_setup_returnToBase()
{
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
float positionStateDown;
PositionStateDownGet(&positionStateDown);
PathDesiredData pathDesired;
// re-initialise in setup stage
memset(&pathDesired, 0, sizeof(PathDesiredData));
TakeOffLocationData takeoffLocation;
TakeOffLocationGet(&takeoffLocation);
// TODO: right now VTOLPF does fly straight to destination altitude.
// For a safer RTB destination altitude will be the higher between takeofflocation and current position (corrected with safety margin)
float destDown;
FlightModeSettingsReturnToBaseAltitudeOffsetGet(&destDown);
destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown;
FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset);
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
pathDesired.End.Down = destDown;
pathDesired.Start.North = takeoffLocation.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = destDown;
pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f;
FlightModeSettingsReturnToBaseNextCommandOptions ReturnToBaseNextCommand;
FlightModeSettingsReturnToBaseNextCommandGet(&ReturnToBaseNextCommand);
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND] = (float)ReturnToBaseNextCommand;
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1] = 0.0f;
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED2] = 0.0f;
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED3] = 0.0f;
pathDesired.Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(&pathDesired);
}
/**
* @brief setup pathplanner/pathfollower for return to base
*/
void plan_setup_returnToBase()
{
// Simple Return To Base mode - keep altitude the same applying configured delta, fly to takeoff position
float positionStateDown;
PositionStateDownGet(&positionStateDown);
PathDesiredData pathDesired;
PathDesiredGet(&pathDesired);
TakeOffLocationData takeoffLocation;
TakeOffLocationGet(&takeoffLocation);
// TODO: right now VTOLPF does fly straight to destination altitude.
// For a safer RTB destination altitude will be the higher between takeofflocation and current position (corrected with safety margin)
float destDown;
FlightModeSettingsReturnToBaseAltitudeOffsetGet(&destDown);
destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown;
FlightModeSettingsPositionHoldOffsetData offset;
FlightModeSettingsPositionHoldOffsetGet(&offset);
float startingVelocity;
FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
pathDesired.End.North = takeoffLocation.North;
pathDesired.End.East = takeoffLocation.East;
pathDesired.End.Down = destDown;
pathDesired.Start.North = takeoffLocation.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
pathDesired.Start.East = takeoffLocation.East;
pathDesired.Start.Down = destDown;
pathDesired.StartingVelocity = startingVelocity;
pathDesired.EndingVelocity = 0.0f;
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
PathDesiredSet(&pathDesired);
}
