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MPC: LAND: create "Stop" a utility "motionprimitive" to also be used …
…elsewhere
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| /**************************************************************************** | ||
| * | ||
| * Copyright (c) 2024 PX4 Development Team. All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * 1. Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * 2. Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in | ||
| * the documentation and/or other materials provided with the | ||
| * distribution. | ||
| * 3. Neither the name PX4 nor the names of its contributors may be | ||
| * used to endorse or promote products derived from this software | ||
| * without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS | ||
| * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED | ||
| * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| ****************************************************************************/ | ||
| #include "Stop.hpp" | ||
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| Stop::Stop(ModuleParams *parent) : | ||
| ModuleParams(parent) | ||
| { | ||
| // update params of the position smoothing | ||
| _position_smoothing.setCruiseSpeed(_param_mpc_xy_vel_max.get()); | ||
| _position_smoothing.setHorizontalTrajectoryGain(_param_mpc_xy_traj_p.get()); | ||
| _position_smoothing.setMaxAllowedHorizontalError(_param_mpc_xy_err_max.get()); | ||
| _position_smoothing.setTargetAcceptanceRadius(_param_nav_mc_alt_rad.get()); | ||
| _position_smoothing.setVerticalAcceptanceRadius(_param_nav_mc_alt_rad.get()); | ||
|
|
||
| // Update the constraints of the trajectories | ||
| _position_smoothing.setMaxVelocityXY(_param_mpc_xy_vel_max.get()); | ||
| _position_smoothing.setMaxVelocityZ(math::max(_param_mpc_z_v_auto_up.get(), _param_mpc_z_v_auto_dn.get())); | ||
| _position_smoothing.setMaxAccelerationXY(_param_mpc_acc_hor.get()); | ||
| _position_smoothing.setMaxAccelerationZ(math::max(_param_mpc_acc_down_max.get(), _param_mpc_acc_up_max.get())); | ||
| _position_smoothing.setMaxJerkXY(_param_mpc_jerk_auto.get()); | ||
| _position_smoothing.setMaxJerkZ(_param_mpc_jerk_max.get()); | ||
| } | ||
|
|
||
| void Stop::getConstraints(vehicle_constraints_s &constraints) | ||
| { | ||
| constraints.speed_down = 1.2f * _param_mpc_z_v_auto_dn.get(); | ||
| constraints.speed_up = 1.2f * _param_mpc_xy_vel_max.get(); | ||
| constraints.speed_xy = 1.2f * _param_mpc_xy_vel_max.get(); | ||
| _position_smoothing.setMaxJerkXY(_param_mpc_jerk_auto.get()); | ||
| _position_smoothing.setMaxJerkZ(_param_mpc_jerk_max.get()); | ||
|
|
||
| if (_exceeded_max_vel) { | ||
| constraints.speed_down = math::max(fabsf(_position_smoothing.getCurrentVelocityZ()), constraints.speed_down); | ||
| constraints.speed_up = math::max(fabsf(_position_smoothing.getCurrentVelocityZ()), constraints.speed_up); | ||
| constraints.speed_xy = math::max(_position_smoothing.getCurrentVelocityXY().norm(), constraints.speed_xy); | ||
|
|
||
| _position_smoothing.setMaxAccelerationXY(CONSTANTS_ONE_G); | ||
| _position_smoothing.setMaxAccelerationZ(2 * CONSTANTS_ONE_G); | ||
| _position_smoothing.setMaxJerk(CONSTANTS_ONE_G); | ||
| _position_smoothing.setMaxJerkZ(10.f * CONSTANTS_ONE_G); // Jerk in Z direction is only limited by motor inertia. | ||
| } | ||
| } | ||
|
|
||
| void | ||
| Stop::initialize(const Vector3f &acceleration, const Vector3f &velocity, const Vector3f &position, | ||
| const float &deltatime) | ||
| { | ||
| isActive = true; | ||
| _position_smoothing.reset(acceleration, velocity, position); | ||
| update(acceleration, velocity, position, deltatime); | ||
|
|
||
| } | ||
|
|
||
| void | ||
| Stop::update(const Vector3f &acceleration, const Vector3f &velocity, const Vector3f &position, const float &deltatime) | ||
| { | ||
| const bool exceeded_vel_z = fabsf(velocity(2)) > math::max(_param_mpc_z_v_auto_dn.get(), | ||
| _param_mpc_z_v_auto_up.get()); | ||
| const bool exceeded_vel_xy = velocity.xy().norm() > _param_mpc_xy_vel_max.get(); | ||
|
|
||
| if ((exceeded_vel_xy | ||
| || exceeded_vel_z)) { // If we exceed the velocity limits, set the flag so we adjust the constraints for faster breaking. | ||
| _exceeded_max_vel = true; | ||
|
|
||
| } else if (!(exceeded_vel_xy && exceeded_vel_z) | ||
| && _exceeded_max_vel) { // If we are back in the allowed range, reset the position_smooting and reset the constrants. | ||
| _position_smoothing.reset(acceleration, velocity, position); | ||
| _exceeded_max_vel = false; | ||
|
|
||
| } else if (_position_smoothing.getCurrentVelocityZ() < 0.01f | ||
| && _position_smoothing.getCurrentVelocityZ() > -0.01f | ||
| && !_position_smoothing.getCurrentVelocityXY().longerThan(0.01f)) { | ||
| isActive = false; | ||
| _stop_position = position; | ||
| } | ||
|
|
||
| PositionSmoothing::PositionSmoothingSetpoints out_setpoints; | ||
| // Generate the setpoints | ||
| // the _stop_position is not considered, as we are only forcing a zero velocity setpoint. | ||
| _position_smoothing.generateSetpoints( | ||
| position, | ||
| _stop_position, | ||
| Vector3f{0.f, 0.f, 0.f}, | ||
| deltatime, | ||
| true, | ||
| out_setpoints | ||
| ); | ||
| _jerk_setpoint = out_setpoints.jerk; | ||
| _acceleration_setpoint = out_setpoints.acceleration; | ||
| _velocity_setpoint = out_setpoints.velocity; | ||
| _position_setpoint = out_setpoints.position; | ||
| } |
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