void AP_Landing_Deepstall::build_approach_path(bool use_current_heading)
{
float loiter_radius = landing.nav_controller->loiter_radius(landing.aparm.loiter_radius);
Vector3f wind = landing.ahrs.wind_estimate();
// TODO: Support a user defined approach heading
target_heading_deg = use_current_heading ? landing.ahrs.yaw_sensor * 1e-2 : (degrees(atan2f(-wind.y, -wind.x)));
memcpy(&extended_approach, &landing_point, sizeof(Location));
memcpy(&arc_exit, &landing_point, sizeof(Location));
//extend the approach point to 1km away so that there is always a navigational target
location_update(extended_approach, target_heading_deg, 1000.0);
float expected_travel_distance = predict_travel_distance(wind, is_zero(approach_alt_offset) ? landing_point.alt * 0.01f : approach_alt_offset,
false);
float approach_extension_m = expected_travel_distance + approach_extension;
float loiter_radius_m_abs = fabsf(loiter_radius);
// an approach extensions must be at least half the loiter radius, or the aircraft has a
// decent chance to be misaligned on final approach
approach_extension_m = MAX(approach_extension_m, loiter_radius_m_abs * 0.5f);
location_update(arc_exit, target_heading_deg + 180, approach_extension_m);
memcpy(&arc, &arc_exit, sizeof(Location));
memcpy(&arc_entry, &arc_exit, sizeof(Location));
float arc_heading_deg = target_heading_deg + (landing_point.flags.loiter_ccw ? -90.0f : 90.0f);
location_update(arc, arc_heading_deg, loiter_radius_m_abs);
location_update(arc_entry, arc_heading_deg, loiter_radius_m_abs * 2);
#ifdef DEBUG_PRINTS
// TODO: Send this information via a MAVLink packet
gcs().send_text(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
(double)(arc.lat / 1e7),(double)( arc.lng / 1e7));
gcs().send_text(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
(double)(arc_entry.lat / 1e7), (double)(arc_entry.lng / 1e7));
gcs().send_text(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
(double)(arc_exit.lat / 1e7), (double)(arc_exit.lng / 1e7));
gcs().send_text(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
(double)(extended_approach.lat / 1e7), (double)(extended_approach.lng / 1e7));
gcs().send_text(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
(double)expected_travel_distance);
gcs().send_text(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
#endif // DEBUG_PRINTS
}
void AP_Landing_Deepstall::build_approach_path(void)
{
float loiter_radius = landing.nav_controller->loiter_radius(landing.aparm.loiter_radius);
Vector3f wind = landing.ahrs.wind_estimate();
// TODO: Support a user defined approach heading
target_heading_deg = (degrees(atan2f(-wind.y, -wind.x)));
memcpy(&extended_approach, &landing_point, sizeof(Location));
memcpy(&arc_exit, &landing_point, sizeof(Location));
//extend the approach point to 1km away so that there is always a navigational target
location_update(extended_approach, target_heading_deg, 1000.0);
float expected_travel_distance = predict_travel_distance(wind, landing_point.alt * 0.01f, false);
float approach_extension_m = expected_travel_distance + approach_extension;
// an approach extensions must be at least half the loiter radius, or the aircraft has a
// decent chance to be misaligned on final approach
approach_extension_m = MAX(approach_extension_m, loiter_radius * 0.5f);
location_update(arc_exit, target_heading_deg + 180, approach_extension_m);
memcpy(&arc, &arc_exit, sizeof(Location));
memcpy(&arc_entry, &arc_exit, sizeof(Location));
// TODO: Support loitering on either side of the approach path
location_update(arc, target_heading_deg + 90.0, loiter_radius);
location_update(arc_entry, target_heading_deg + 90.0, loiter_radius * 2);
#ifdef DEBUG_PRINTS
// TODO: Send this information via a MAVLink packet
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Arc: %3.8f %3.8f",
(double)(arc.lat / 1e7),(double)( arc.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Loiter en: %3.8f %3.8f",
(double)(arc_entry.lat / 1e7), (double)(arc_entry.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Loiter ex: %3.8f %3.8f",
(double)(arc_exit.lat / 1e7), (double)(arc_exit.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Extended: %3.8f %3.8f",
(double)(extended_approach.lat / 1e7), (double)(extended_approach.lng / 1e7));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Extended by: %f (%f)", (double)approach_extension_m,
(double)expected_travel_distance);
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Target Heading: %3.1f", (double)target_heading_deg);
#endif // DEBUG_PRINTS
}
/*
update navigation for landing
*/
bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms,
const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range)
{
switch (stage) {
case DEEPSTALL_STAGE_FLY_TO_LANDING:
if (get_distance(current_loc, landing_point) > fabsf(2 * landing.aparm.loiter_radius)) {
landing.nav_controller->update_waypoint(current_loc, landing_point);
return false;
}
stage = DEEPSTALL_STAGE_ESTIMATE_WIND;
loiter_sum_cd = 0; // reset the loiter counter
FALLTHROUGH;
case DEEPSTALL_STAGE_ESTIMATE_WIND:
{
landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, landing_point.flags.loiter_ccw ? -1 : 1);
if (!landing.nav_controller->reached_loiter_target() || (fabsf(height) > DEEPSTALL_LOITER_ALT_TOLERANCE)) {
// wait until the altitude is correct before considering a breakout
return false;
}
// only count loiter progress when within the target altitude
int32_t target_bearing = landing.nav_controller->target_bearing_cd();
int32_t delta = wrap_180_cd(target_bearing - last_target_bearing);
delta *= (landing_point.flags.loiter_ccw ? -1 : 1);
if (delta > 0) { // only accumulate turns in the correct direction
loiter_sum_cd += delta;
}
last_target_bearing = target_bearing;
if (loiter_sum_cd < 36000) {
// wait until we've done at least one complete loiter at the correct altitude
return false;
}
stage = DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT;
loiter_sum_cd = 0; // reset the loiter counter
FALLTHROUGH;
}
case DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT:
// rebuild the approach path if we have done less then a full circle to allow it to be
// more into the wind as the estimator continues to refine itself, and allow better
// compensation on windy days. This is limited to a single full circle though, as on
// a no wind day you could be in this loop forever otherwise.
if (loiter_sum_cd < 36000) {
build_approach_path(false);
}
if (!verify_breakout(current_loc, arc_entry, height)) {
int32_t target_bearing = landing.nav_controller->target_bearing_cd();
int32_t delta = wrap_180_cd(target_bearing - last_target_bearing);
if (delta > 0) { // only accumulate turns in the correct direction
loiter_sum_cd += delta;
}
last_target_bearing = target_bearing;
landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, landing_point.flags.loiter_ccw ? -1 : 1);
return false;
}
stage = DEEPSTALL_STAGE_FLY_TO_ARC;
memcpy(&breakout_location, ¤t_loc, sizeof(Location));
FALLTHROUGH;
case DEEPSTALL_STAGE_FLY_TO_ARC:
if (get_distance(current_loc, arc_entry) > 2 * landing.aparm.loiter_radius) {
landing.nav_controller->update_waypoint(breakout_location, arc_entry);
return false;
}
stage = DEEPSTALL_STAGE_ARC;
FALLTHROUGH;
case DEEPSTALL_STAGE_ARC:
{
Vector2f groundspeed = landing.ahrs.groundspeed_vector();
if (!landing.nav_controller->reached_loiter_target() ||
(fabsf(wrap_180(target_heading_deg -
degrees(atan2f(-groundspeed.y, -groundspeed.x) + M_PI))) >= 10.0f)) {
landing.nav_controller->update_loiter(arc, landing.aparm.loiter_radius, landing_point.flags.loiter_ccw ? -1 : 1);
return false;
}
stage = DEEPSTALL_STAGE_APPROACH;
}
FALLTHROUGH;
case DEEPSTALL_STAGE_APPROACH:
{
Location entry_point;
landing.nav_controller->update_waypoint(arc_exit, extended_approach);
float relative_alt_D;
landing.ahrs.get_relative_position_D_home(relative_alt_D);
const float travel_distance = predict_travel_distance(landing.ahrs.wind_estimate(), -relative_alt_D, false);
memcpy(&entry_point, &landing_point, sizeof(Location));
location_update(entry_point, target_heading_deg + 180.0, travel_distance);
if (!location_passed_point(current_loc, arc_exit, entry_point)) {
if (location_passed_point(current_loc, arc_exit, extended_approach)) {
// this should never happen, but prevent against an indefinite fly away
stage = DEEPSTALL_STAGE_FLY_TO_LANDING;
}
return false;
}
predict_travel_distance(landing.ahrs.wind_estimate(), -relative_alt_D, true);
stage = DEEPSTALL_STAGE_LAND;
stall_entry_time = AP_HAL::millis();
const SRV_Channel* elevator = SRV_Channels::get_channel_for(SRV_Channel::k_elevator);
if (elevator != nullptr) {
// take the last used elevator angle as the starting deflection
// don't worry about bailing here if the elevator channel can't be found
// that will be handled within override_servos
initial_elevator_pwm = elevator->get_output_pwm();
}
}
FALLTHROUGH;
case DEEPSTALL_STAGE_LAND:
// while in deepstall the only thing verify needs to keep the extended approach point sufficently far away
landing.nav_controller->update_waypoint(current_loc, extended_approach);
landing.disarm_if_autoland_complete_fn();
return false;
default:
return true;
}
}