/** Navigation function to a single waypoint
*/
static inline bool_t mission_nav_wp(struct _mission_wp * wp) {
if (nav_approaching_xy(wp->wp.x, wp->wp.y, last_wp.x, last_wp.y, CARROT)) {
last_wp = wp->wp; // store last wp
return FALSE; // end of mission element
}
// set navigation command
fly_to_xy(wp->wp.x, wp->wp.y);
NavVerticalAutoThrottleMode(0.);
NavVerticalAltitudeMode(wp->wp.z, 0.);
return TRUE;
}
/** Navigation function to a single waypoint
*/
static inline bool mission_nav_wp(struct _mission_wp *wp)
{
if (nav_approaching_xy(wp->wp.wp_f.x, wp->wp.wp_f.y, last_wp_f.x, last_wp_f.y, CARROT)) {
last_wp_f = wp->wp.wp_f; // store last wp
return false; // end of mission element
}
// set navigation command
fly_to_xy(wp->wp.wp_f.x, wp->wp.wp_f.y);
NavVerticalAutoThrottleMode(0.);
NavVerticalAltitudeMode(wp->wp.wp_f.z, 0.);
return true;
}
static inline void nav_follow(uint8_t _ac_id, float _distance, float _height) {
struct ac_info_ * ac = get_ac_info(_ac_id);
NavVerticalAutoThrottleMode(0.);
NavVerticalAltitudeMode(Max(ac->alt + _height, ground_alt+SECURITY_HEIGHT), 0.);
float alpha = M_PI/2 - ac->course;
float ca = cosf(alpha), sa = sinf(alpha);
float x = ac->east - _distance*ca;
float y = ac->north - _distance*sa;
fly_to_xy(x, y);
#ifdef NAV_FOLLOW_PGAIN
float s = (stateGetPositionEnu_f()->x - x)*ca + (stateGetPositionEnu_f()->y - y)*sa;
nav_ground_speed_setpoint = ac->gspeed + NAV_FOLLOW_PGAIN*s;
nav_ground_speed_loop();
#endif
}
void nav_follow(uint8_t ac_id, float distance, float height)
{
struct EnuCoor_f *ac = acInfoGetPositionEnu_f(ac_id);
NavVerticalAutoThrottleMode(0.);
NavVerticalAltitudeMode(Max(ac->z + height, ground_alt + SECURITY_HEIGHT), 0.);
float alpha = M_PI / 2 - acInfoGetCourse(ac_id);
float ca = cosf(alpha), sa = sinf(alpha);
float x = ac->x - distance * ca;
float y = ac->y - distance * sa;
fly_to_xy(x, y);
#ifdef NAV_FOLLOW_PGAIN
float s = (stateGetPositionEnu_f()->x - x) * ca + (stateGetPositionEnu_f()->y - y) * sa;
nav_ground_speed_setpoint = acInfoGetGspeed(ac_id) + NAV_FOLLOW_PGAIN * s;
nav_ground_speed_loop();
#endif
}
/** Navigates around (x, y). Clockwise iff radius > 0 */
void nav_circle_XY(float x, float y, float radius)
{
struct EnuCoor_f *pos = stateGetPositionEnu_f();
float last_trigo_qdr = nav_circle_trigo_qdr;
nav_circle_trigo_qdr = atan2f(pos->y - y, pos->x - x);
float sign_radius = radius > 0 ? 1 : -1;
if (nav_in_circle) {
float trigo_diff = nav_circle_trigo_qdr - last_trigo_qdr;
NormRadAngle(trigo_diff);
nav_circle_radians += trigo_diff;
trigo_diff *= - sign_radius;
if (trigo_diff > 0) { // do not rewind if the change in angle is in the opposite sense than nav_radius
nav_circle_radians_no_rewind += trigo_diff;
}
}
float dist2_center = DistanceSquare(pos->x, pos->y, x, y);
float dist_carrot = CARROT * NOMINAL_AIRSPEED;
radius += -nav_shift;
float abs_radius = fabs(radius);
/** Computes a prebank. Go straight if inside or outside the circle */
circle_bank =
(dist2_center > Square(abs_radius + dist_carrot)
|| dist2_center < Square(abs_radius - dist_carrot)) ?
0 :
atanf(stateGetHorizontalSpeedNorm_f() * stateGetHorizontalSpeedNorm_f() / (NAV_GRAVITY * radius));
float carrot_angle = dist_carrot / abs_radius;
carrot_angle = Min(carrot_angle, M_PI / 4);
carrot_angle = Max(carrot_angle, M_PI / 16);
float alpha_carrot = nav_circle_trigo_qdr - sign_radius * carrot_angle;
horizontal_mode = HORIZONTAL_MODE_CIRCLE;
float radius_carrot = abs_radius;
if (nav_mode == NAV_MODE_COURSE) {
radius_carrot += (abs_radius / cosf(carrot_angle) - abs_radius);
}
fly_to_xy(x + cosf(alpha_carrot)*radius_carrot,
y + sinf(alpha_carrot)*radius_carrot);
nav_in_circle = true;
nav_circle_x = x;
nav_circle_y = y;
nav_circle_radius = radius;
}
/**
* \brief Computes the carrot position along the desired segment.
*/
void nav_route_xy(float last_wp_x, float last_wp_y, float wp_x, float wp_y) {
float leg_x = wp_x - last_wp_x;
float leg_y = wp_y - last_wp_y;
float leg2 = Max(leg_x * leg_x + leg_y * leg_y, 1.);
nav_leg_progress = ((stateGetPositionEnu_f()->x - last_wp_x) * leg_x + (stateGetPositionEnu_f()->y - last_wp_y) * leg_y) / leg2;
nav_leg_length = sqrtf(leg2);
/** distance of carrot (in meter) */
float carrot = CARROT * NOMINAL_AIRSPEED;
nav_leg_progress += Max(carrot / nav_leg_length, 0.);
nav_in_segment = TRUE;
nav_segment_x_1 = last_wp_x;
nav_segment_y_1 = last_wp_y;
nav_segment_x_2 = wp_x;
nav_segment_y_2 = wp_y;
horizontal_mode = HORIZONTAL_MODE_ROUTE;
fly_to_xy(last_wp_x + nav_leg_progress*leg_x +nav_shift*leg_y/nav_leg_length, last_wp_y + nav_leg_progress*leg_y-nav_shift*leg_x/nav_leg_length);
}
/** Navigates around (x, y). Clockwise iff radius > 0 */
void nav_circle_XY(float x, float y, float radius) {
float last_trigo_qdr = nav_circle_trigo_qdr;
nav_circle_trigo_qdr = atan2(estimator_y - y, estimator_x - x);
if (nav_in_circle) {
float trigo_diff = nav_circle_trigo_qdr - last_trigo_qdr;
NormRadAngle(trigo_diff);
nav_circle_radians += trigo_diff;
}
float dist2_center = DistanceSquare(estimator_x, estimator_y, x, y);
float dist_carrot = CARROT*NOMINAL_AIRSPEED;
float sign_radius = radius > 0 ? 1 : -1;
radius += -nav_shift;
float abs_radius = fabs(radius);
/** Computes a prebank. Go straight if inside or outside the circle */
circle_bank =
(dist2_center > Square(abs_radius + dist_carrot)
|| dist2_center < Square(abs_radius - dist_carrot)) ?
0 :
atan(estimator_hspeed_mod*estimator_hspeed_mod / (G*radius));
float carrot_angle = dist_carrot / abs_radius;
carrot_angle = Min(carrot_angle, M_PI/4);
carrot_angle = Max(carrot_angle, M_PI/16);
float alpha_carrot = nav_circle_trigo_qdr - sign_radius * carrot_angle;
horizontal_mode = HORIZONTAL_MODE_CIRCLE;
float radius_carrot = abs_radius;
if (nav_mode == NAV_MODE_COURSE)
radius_carrot += (abs_radius / cos(carrot_angle) - abs_radius);
fly_to_xy(x+cos(alpha_carrot)*radius_carrot,
y+sin(alpha_carrot)*radius_carrot);
nav_in_circle = TRUE;
nav_circle_x = x;
nav_circle_y = y;
nav_circle_radius = radius;
}
int formation_flight(void)
{
static uint8_t _1Hz = 0;
uint8_t nb = 0, i;
float hspeed_dir = stateGetHorizontalSpeedDir_f();
float ch = cosf(hspeed_dir);
float sh = sinf(hspeed_dir);
form_n = 0.;
form_e = 0.;
form_a = 0.;
form_speed = stateGetHorizontalSpeedNorm_f();
form_speed_n = form_speed * ch;
form_speed_e = form_speed * sh;
if (AC_ID == leader_id) {
stateGetPositionEnu_f()->x += formation[the_acs_id[AC_ID]].east;
stateGetPositionEnu_f()->y += formation[the_acs_id[AC_ID]].north;
}
// set info for this AC
set_ac_info(AC_ID, stateGetPositionEnu_f()->x, stateGetPositionEnu_f()->y, hspeed_dir,
stateGetPositionUtm_f()->alt, form_speed, stateGetSpeedEnu_f()->z, gps.tow);
// broadcast info
uint8_t ac_id = AC_ID;
uint8_t status = formation[the_acs_id[AC_ID]].status;
DOWNLINK_SEND_FORMATION_STATUS_TM(DefaultChannel, DefaultDevice, &ac_id, &leader_id, &status);
if (++_1Hz >= 4) {
_1Hz = 0;
DOWNLINK_SEND_FORMATION_SLOT_TM(DefaultChannel, DefaultDevice, &ac_id, &form_mode,
&formation[the_acs_id[AC_ID]].east,
&formation[the_acs_id[AC_ID]].north,
&formation[the_acs_id[AC_ID]].alt);
}
if (formation[the_acs_id[AC_ID]].status != ACTIVE) { return FALSE; } // AC not ready
// get leader info
struct ac_info_ * leader = get_ac_info(leader_id);
if (formation[the_acs_id[leader_id]].status == UNSET ||
formation[the_acs_id[leader_id]].status == IDLE) {
// leader not ready or not in formation
return FALSE;
}
// compute slots in the right reference frame
struct slot_ form[NB_ACS];
float cr = 0., sr = 1.;
if (form_mode == FORM_MODE_COURSE) {
cr = cosf(leader->course);
sr = sinf(leader->course);
}
for (i = 0; i < NB_ACS; ++i) {
if (formation[i].status == UNSET) { continue; }
form[i].east = formation[i].east * sr - formation[i].north * cr;
form[i].north = formation[i].east * cr + formation[i].north * sr;
form[i].alt = formation[i].alt;
}
// compute control forces
for (i = 0; i < NB_ACS; ++i) {
if (the_acs[i].ac_id == AC_ID) { continue; }
struct ac_info_ * ac = get_ac_info(the_acs[i].ac_id);
float delta_t = Max((int)(gps.tow - ac->itow) / 1000., 0.);
if (delta_t > FORM_CARROT) {
// if AC not responding for too long
formation[i].status = LOST;
continue;
} else {
// compute control if AC is ACTIVE and around the same altitude (maybe not so usefull)
formation[i].status = ACTIVE;
if (ac->alt > 0 && fabs(stateGetPositionUtm_f()->alt - ac->alt) < form_prox) {
form_e += (ac->east + ac->gspeed * sinf(ac->course) * delta_t - stateGetPositionEnu_f()->x)
- (form[i].east - form[the_acs_id[AC_ID]].east);
form_n += (ac->north + ac->gspeed * cosf(ac->course) * delta_t - stateGetPositionEnu_f()->y)
- (form[i].north - form[the_acs_id[AC_ID]].north);
form_a += (ac->alt - stateGetPositionUtm_f()->alt) - (formation[i].alt - formation[the_acs_id[AC_ID]].alt);
form_speed += ac->gspeed;
//form_speed_e += ac->gspeed * sinf(ac->course);
//form_speed_n += ac->gspeed * cosf(ac->course);
++nb;
}
}
}
uint8_t _nb = Max(1, nb);
form_n /= _nb;
form_e /= _nb;
form_a /= _nb;
form_speed = form_speed / (nb + 1) - stateGetHorizontalSpeedNorm_f();
//form_speed_e = form_speed_e / (nb+1) - stateGetHorizontalSpeedNorm_f() * sh;
//form_speed_n = form_speed_n / (nb+1) - stateGetHorizontalSpeedNorm_f() * ch;
// set commands
NavVerticalAutoThrottleMode(0.);
// altitude loop
float alt = 0.;
if (AC_ID == leader_id) {
alt = nav_altitude;
} else {
alt = leader->alt - form[the_acs_id[leader_id]].alt;
}
alt += formation[the_acs_id[AC_ID]].alt + coef_form_alt * form_a;
flight_altitude = Max(alt, ground_alt + SECURITY_HEIGHT);
// carrot
if (AC_ID != leader_id) {
float dx = form[the_acs_id[AC_ID]].east - form[the_acs_id[leader_id]].east;
float dy = form[the_acs_id[AC_ID]].north - form[the_acs_id[leader_id]].north;
desired_x = leader->east + NOMINAL_AIRSPEED * form_carrot * sinf(leader->course) + dx;
desired_y = leader->north + NOMINAL_AIRSPEED * form_carrot * cosf(leader->course) + dy;
// fly to desired
fly_to_xy(desired_x, desired_y);
desired_x = leader->east + dx;
desired_y = leader->north + dy;
// lateral correction
//float diff_heading = asin((dx*ch - dy*sh) / sqrt(dx*dx + dy*dy));
//float diff_course = leader->course - hspeed_dir;
//NormRadAngle(diff_course);
//h_ctl_roll_setpoint += coef_form_course * diff_course;
//h_ctl_roll_setpoint += coef_form_course * diff_heading;
}
//BoundAbs(h_ctl_roll_setpoint, h_ctl_roll_max_setpoint);
// speed loop
if (nb > 0) {
float cruise = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
cruise += coef_form_pos * (form_n * ch + form_e * sh) + coef_form_speed * form_speed;
Bound(cruise, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
v_ctl_auto_throttle_cruise_throttle = cruise;
}
return TRUE;
}
int potential_task(void)
{
uint8_t i;
float ch = cosf(stateGetHorizontalSpeedDir_f());
float sh = sinf(stateGetHorizontalSpeedDir_f());
potential_force.east = 0.;
potential_force.north = 0.;
potential_force.alt = 0.;
// compute control forces
int8_t nb = 0;
for (i = 0; i < NB_ACS; ++i) {
if (the_acs[i].ac_id == AC_ID) { continue; }
struct ac_info_ * ac = get_ac_info(the_acs[i].ac_id);
float delta_t = Max((int)(gps.tow - ac->itow) / 1000., 0.);
// if AC not responding for too long, continue, else compute force
if (delta_t > CARROT) { continue; }
else {
float sha = sinf(ac->course);
float cha = cosf(ac->course);
float de = ac->east + sha * delta_t - stateGetPositionEnu_f()->x;
if (de > FORCE_MAX_DIST || de < -FORCE_MAX_DIST) { continue; }
float dn = ac->north + cha * delta_t - stateGetPositionEnu_f()->y;
if (dn > FORCE_MAX_DIST || dn < -FORCE_MAX_DIST) { continue; }
float da = ac->alt + ac->climb * delta_t - stateGetPositionUtm_f()->alt;
if (da > FORCE_MAX_DIST || da < -FORCE_MAX_DIST) { continue; }
float dist = sqrtf(de * de + dn * dn + da * da);
if (dist == 0.) { continue; }
float dve = stateGetHorizontalSpeedNorm_f() * sh - ac->gspeed * sha;
float dvn = stateGetHorizontalSpeedNorm_f() * ch - ac->gspeed * cha;
float dva = stateGetSpeedEnu_f()->z - the_acs[i].climb;
float scal = dve * de + dvn * dn + dva * da;
if (scal < 0.) { continue; } // No risk of collision
float d3 = dist * dist * dist;
potential_force.east += scal * de / d3;
potential_force.north += scal * dn / d3;
potential_force.alt += scal * da / d3;
++nb;
}
}
if (nb == 0) { return true; }
//potential_force.east /= nb;
//potential_force.north /= nb;
//potential_force.alt /= nb;
// set commands
NavVerticalAutoThrottleMode(0.);
// carrot
float dx = -force_pos_gain * potential_force.east;
float dy = -force_pos_gain * potential_force.north;
desired_x += dx;
desired_y += dy;
// fly to desired
fly_to_xy(desired_x, desired_y);
// speed loop
float cruise = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
cruise += -force_speed_gain * (potential_force.north * ch + potential_force.east * sh);
Bound(cruise, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
potential_force.speed = cruise;
v_ctl_auto_throttle_cruise_throttle = cruise;
// climb loop
potential_force.climb = -force_climb_gain * potential_force.alt;
BoundAbs(potential_force.climb, V_CTL_ALTITUDE_MAX_CLIMB);
NavVerticalClimbMode(potential_force.climb);
DOWNLINK_SEND_POTENTIAL(DefaultChannel, DefaultDevice, &potential_force.east, &potential_force.north,
&potential_force.alt, &potential_force.speed, &potential_force.climb);
return true;
}
