void cam_ac_target( void ) {
#ifdef TRAFFIC_INFO
struct ac_info_ * ac = get_ac_info(cam_target_ac);
cam_target_x = ac->east;
cam_target_y = ac->north;
cam_target_alt = ac->alt;
cam_target();
#endif // TRAFFIC_INFO
}
static inline enum tcas_resolve tcas_test_direction(uint8_t id) {
struct ac_info_ * ac = get_ac_info(id);
float dz = ac->alt - estimator_z;
if (dz > tcas_alim/2) return RA_DESCEND;
else if (dz < -tcas_alim/2) return RA_CLIMB;
else // AC with the smallest ID descend
{
if (AC_ID < id) return RA_DESCEND;
else return RA_CLIMB;
}
}
static inline enum tcas_resolve tcas_test_direction(uint8_t id)
{
struct ac_info_ * ac = get_ac_info(id);
float dz = ac->alt - stateGetPositionUtm_f()->alt;
if (dz > tcas_alim / 2) { return RA_DESCEND; }
else if (dz < -tcas_alim / 2) { return RA_CLIMB; }
else { // AC with the smallest ID descend
if (AC_ID < id) { return RA_DESCEND; }
else { return RA_CLIMB; }
}
}
void ant_tracker_periodic( void ) {
if (ant_track_mode == ANT_TRACK_AUTO) {
struct ac_info_ * ac = get_ac_info(ant_track_id);
ant_track_azim = atan2(ac->north, ac->east) * 180. / M_PI;
ant_track_azim = 90. - ant_track_azim;
if (ant_track_azim < 0)
ant_track_azim += 360.;
float dist = sqrt(ac->north*ac->north + ac->east*ac->east);
if ( dist < 1.) dist = 1.;
float height = ac->alt - ant_track_elev;
ant_track_elev = atan2( height, dist) * 180. / M_PI;
}
}
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
}
/* altitude control loop */
void tcas_periodic_task_4Hz( void ) {
// set alt setpoint
if (estimator_z > GROUND_ALT + SECURITY_HEIGHT && tcas_status == TCAS_RA) {
struct ac_info_ * ac = get_ac_info(tcas_ac_RA);
switch (tcas_resolve) {
case RA_CLIMB :
tcas_alt_setpoint = Max(nav_altitude, ac->alt + tcas_alim);
break;
case RA_DESCEND :
tcas_alt_setpoint = Min(nav_altitude, ac->alt - tcas_alim);
break;
case RA_LEVEL :
case RA_NONE :
tcas_alt_setpoint = nav_altitude;
break;
}
// Bound alt
tcas_alt_setpoint = Max(GROUND_ALT + SECURITY_HEIGHT, tcas_alt_setpoint);
}
else {
tcas_alt_setpoint = nav_altitude;
tcas_resolve = RA_NONE;
}
}
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;
}
int swarm_potential_task(void)
{
struct EnuCoor_f speed_sp = {.x = 0., .y = 0., .z = 0.};
// compute desired velocity
int8_t nb = 0;
uint8_t i;
if (gps.fix == 0) {return 1;}
struct UtmCoor_i my_pos;
my_pos.zone = 0;
utm_of_lla_i(&my_pos, &gps.lla_pos); // TODO update height to hmsl
for (i = 0; i < ti_acs_idx; i++) {
if (ti_acs[i].ac_id == 0 || ti_acs[i].ac_id == AC_ID) { continue; }
struct ac_info_ * ac = get_ac_info(ti_acs[i].ac_id);
//float delta_t = ABS((int32_t)(gps.tow - ac->itow) / 1000.);
// if AC not responding for too long, continue, else compute force
//if(delta_t > 5) { continue; }
float de = (ac->utm.east - my_pos.east) / 100.; // + sha * delta_t
float dn = (ac->utm.north - my_pos.north) / 100.; // cha * delta_t
float da = (ac->utm.alt - my_pos.alt) / 1000.; // ac->climb * delta_t // currently wrong reference in other aircraft
float dist2 = de * de + dn * dn;// + da * da;
if (dist2 == 0.) {continue;}
float dist = sqrtf(dist2);
// potential force equation: x^2 - d0^3/x
float force = dist2 - TARGET_DIST3 / dist;
potential_force.east = (de * force) / dist;
potential_force.north = (dn * force) / dist;
potential_force.alt = (da * force) / dist;
// set carrot
// include speed of other vehicles for swarm cohesion
speed_sp.x += force_hor_gain * potential_force.east;// + ac->gspeed * sinf(ac->course);
speed_sp.y += force_hor_gain * potential_force.north;// + ac->gspeed * cosf(ac->course);
speed_sp.z += force_climb_gain * potential_force.alt;// + ac->climb;
nb++;
//debug
//potential_force.east = de;
//potential_force.north = dn;
//potential_force.alt = da;
}
// add waypoint force to get vehicle to waypoint
if (use_waypoint) {
struct EnuCoor_f my_enu = *stateGetPositionEnu_f();
float de = waypoint_get_x(SP_WP) - my_enu.x;
float dn = waypoint_get_y(SP_WP) - my_enu.y;
float da = waypoint_get_alt(SP_WP) - my_enu.z;
float dist2 = de * de + dn * dn;// + da * da;
if (dist2 > 0.01) { // add deadzone of 10cm from goal
float dist = sqrtf(dist2);
float force = 2 * dist2;
// higher attractive potential to get to goal when close by
if (dist < 1.) {
force = 2 * dist;
}
potential_force.east = force * de / dist;
potential_force.north = force * dn / dist;
potential_force.alt = force * da / dist;
speed_sp.x += force_hor_gain * potential_force.east;
speed_sp.y += force_hor_gain * potential_force.north;
speed_sp.z += force_climb_gain * potential_force.alt;
potential_force.east = de;
potential_force.north = dn;
potential_force.alt = force;
potential_force.speed = speed_sp.x;
potential_force.climb = speed_sp.y;
}
}
//potential_force.speed = speed_sp.x;
//potential_force.climb = speed_sp.y;
// limit commands
#ifdef GUIDANCE_H_REF_MAX_SPEED
BoundAbs(speed_sp.x, GUIDANCE_H_REF_MAX_SPEED);
BoundAbs(speed_sp.y, GUIDANCE_H_REF_MAX_SPEED);
BoundAbs(speed_sp.z, GUIDANCE_H_REF_MAX_SPEED);
#endif
potential_force.east = speed_sp.x;
potential_force.north = speed_sp.y;
potential_force.alt = speed_sp.z;
autopilot_guided_move_ned(speed_sp.y, speed_sp.x, 0, 0); // speed in enu
return 1;
}