From fcf710d8d186a1f4b49ea6c4b456d51f32c4e516 Mon Sep 17 00:00:00 2001 From: Henry Wurzburg Date: Thu, 28 Nov 2024 20:40:29 -0600 Subject: [PATCH] ArduPlane: add AutoLand fixed-wing mode --- ArduPlane/ArduPlane.cpp | 4 +- ArduPlane/GCS_Mavlink.cpp | 1 + ArduPlane/GCS_Plane.cpp | 1 + ArduPlane/Parameters.cpp | 4 ++ ArduPlane/Parameters.h | 2 +- ArduPlane/Plane.h | 4 ++ ArduPlane/commands_logic.cpp | 5 ++ ArduPlane/control_modes.cpp | 3 + ArduPlane/events.cpp | 4 +- ArduPlane/mode.h | 40 +++++++++++++ ArduPlane/mode_autoland.cpp | 111 +++++++++++++++++++++++++++++++++++ ArduPlane/mode_takeoff.cpp | 12 ++++ 12 files changed, 188 insertions(+), 3 deletions(-) create mode 100644 ArduPlane/mode_autoland.cpp diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 1e10df8c42784d..34d8af312de18a 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -681,11 +681,13 @@ void Plane::update_flight_stage(void) } #endif set_flight_stage(AP_FixedWing::FlightStage::NORMAL); - } else if (control_mode != &mode_takeoff) { + } else if ((control_mode != &mode_takeoff) && (control_mode != &mode_autoland)) { // If not in AUTO then assume normal operation for normal TECS operation. // This prevents TECS from being stuck in the wrong stage if you switch from // AUTO to, say, FBWB during a landing, an aborted landing or takeoff. set_flight_stage(AP_FixedWing::FlightStage::NORMAL); + } else if (control_mode == &mode_autoland) { + set_flight_stage(AP_FixedWing::FlightStage::LAND); } return; } diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index 298b4e47a5195b..0d1b505ea7998e 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -59,6 +59,7 @@ MAV_MODE GCS_MAVLINK_Plane::base_mode() const case Mode::Number::GUIDED: case Mode::Number::CIRCLE: case Mode::Number::TAKEOFF: + case Mode::Number::AUTOLAND: #if HAL_QUADPLANE_ENABLED case Mode::Number::QRTL: case Mode::Number::LOITER_ALT_QLAND: diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp index a193f44e0858d3..19623d898b0724 100644 --- a/ArduPlane/GCS_Plane.cpp +++ b/ArduPlane/GCS_Plane.cpp @@ -70,6 +70,7 @@ void GCS_Plane::update_vehicle_sensor_status_flags(void) case Mode::Number::GUIDED: case Mode::Number::CIRCLE: case Mode::Number::TAKEOFF: + case Mode::Number::AUTOLAND: #if HAL_QUADPLANE_ENABLED case Mode::Number::QRTL: case Mode::Number::LOITER_ALT_QLAND: diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp index 5f746640e16e21..49df9c7a039fbb 100644 --- a/ArduPlane/Parameters.cpp +++ b/ArduPlane/Parameters.cpp @@ -1027,6 +1027,10 @@ const AP_Param::Info Plane::var_info[] = { // @Group: TKOFF_ // @Path: mode_takeoff.cpp GOBJECT(mode_takeoff, "TKOFF_", ModeTakeoff), + + // @Group: AUTOLAND_ + // @Path: mode_autoland.cpp + GOBJECT(mode_autoland, "AUTOLAND_", ModeAutoLand), #if AP_PLANE_GLIDER_PULLUP_ENABLED // @Group: PUP_ diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h index 24645b3b88471d..605afbeaa9598d 100644 --- a/ArduPlane/Parameters.h +++ b/ArduPlane/Parameters.h @@ -100,7 +100,7 @@ class Parameters { k_param_sonar_old, // unused k_param_log_bitmask, k_param_BoardConfig, - k_param_rssi_range, // unused, replaced by rssi_ library parameters + k_param_mode_autoland, // was rssi_range k_param_flapin_channel_old, // unused, moved to RC_OPTION k_param_flaperon_output, // unused k_param_gps, diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index ec6de84fe709cd..d211b97f89d067 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -172,6 +172,7 @@ class Plane : public AP_Vehicle { friend class ModeTakeoff; friend class ModeThermal; friend class ModeLoiterAltQLand; + friend class ModeAutoLand; #if AP_EXTERNAL_CONTROL_ENABLED friend class AP_ExternalControl_Plane; @@ -326,6 +327,7 @@ class Plane : public AP_Vehicle { #endif // QAUTOTUNE_ENABLED #endif // HAL_QUADPLANE_ENABLED ModeTakeoff mode_takeoff; + ModeAutoLand mode_autoland; #if HAL_SOARING_ENABLED ModeThermal mode_thermal; #endif @@ -450,6 +452,8 @@ class Plane : public AP_Vehicle { float throttle_lim_min; uint32_t throttle_max_timer_ms; // Good candidate for keeping the initial time for TKOFF_THR_MAX_T. + int32_t takeoff_initial_direction; //deg + bool takeoffdirectionset; } takeoff_state; // ground steering controller state diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp index 90c3e024800c6e..f6f7a5d0d83c39 100644 --- a/ArduPlane/commands_logic.cpp +++ b/ArduPlane/commands_logic.cpp @@ -380,6 +380,8 @@ void Plane::do_takeoff(const AP_Mission::Mission_Command& cmd) // zero locked course steer_state.locked_course_err = 0; steer_state.hold_course_cd = -1; + takeoff_state.takeoff_initial_direction = -1; + takeoff_state.takeoffdirectionset = false; auto_state.baro_takeoff_alt = barometer.get_altitude(); } @@ -554,6 +556,9 @@ bool Plane::verify_takeoff() gps.ground_speed() > min_gps_speed && hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED) { auto_state.takeoff_speed_time_ms = millis(); + takeoff_state.takeoff_initial_direction = gps.ground_course(); + takeoff_state.takeoffdirectionset = true; + gcs().send_text(MAV_SEVERITY_INFO, "Takeoff initial direction= %u",int(takeoff_state.takeoff_initial_direction)); } if (auto_state.takeoff_speed_time_ms != 0 && millis() - auto_state.takeoff_speed_time_ms >= 2000) { diff --git a/ArduPlane/control_modes.cpp b/ArduPlane/control_modes.cpp index 7f15e0e2663f90..64e8a87047cdaa 100644 --- a/ArduPlane/control_modes.cpp +++ b/ArduPlane/control_modes.cpp @@ -83,6 +83,9 @@ Mode *Plane::mode_from_mode_num(const enum Mode::Number num) case Mode::Number::TAKEOFF: ret = &mode_takeoff; break; + case Mode::Number::AUTOLAND: + ret = &mode_autoland; + break; case Mode::Number::THERMAL: #if HAL_SOARING_ENABLED ret = &mode_thermal; diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp index 64127c633c1818..9ee6e78f8e510b 100644 --- a/ArduPlane/events.cpp +++ b/ArduPlane/events.cpp @@ -65,7 +65,8 @@ void Plane::failsafe_short_on_event(enum failsafe_state fstype, ModeReason reaso break; #endif // HAL_QUADPLANE_ENABLED - case Mode::Number::AUTO: { + case Mode::Number::AUTO: + case Mode::Number::AUTOLAND: { if (failsafe_in_landing_sequence()) { // don't failsafe in a landing sequence break; @@ -169,6 +170,7 @@ void Plane::failsafe_long_on_event(enum failsafe_state fstype, ModeReason reason #endif // HAL_QUADPLANE_ENABLED case Mode::Number::AUTO: + case Mode::Number::AUTOLAND: if (failsafe_in_landing_sequence()) { // don't failsafe in a landing sequence break; diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h index 8260924afca893..4577aa3fc1ec18 100644 --- a/ArduPlane/mode.h +++ b/ArduPlane/mode.h @@ -55,6 +55,7 @@ class Mode #if HAL_QUADPLANE_ENABLED LOITER_ALT_QLAND = 25, #endif + AUTOLAND = 26, }; // Constructor @@ -835,6 +836,45 @@ class ModeTakeoff: public Mode // flag that we have already called autoenable fences once in MODE TAKEOFF bool have_autoenabled_fences; +}; + +class ModeAutoLand: public Mode +{ +public: + ModeAutoLand(); + + Number mode_number() const override { return Number::AUTOLAND; } + const char *name() const override { return "AUTOLAND"; } + const char *name4() const override { return "AUTOLAND"; } + + // methods that affect movement of the vehicle in this mode + void update() override; + + void navigate() override; + + bool allows_throttle_nudging() const override { return true; } + + bool does_auto_navigation() const override { return true; } + + bool does_auto_throttle() const override { return true; } + + + // var_info for holding parameter information + static const struct AP_Param::GroupInfo var_info[]; + + AP_Int16 final_wp_alt; + AP_Int16 final_wp_dist; + +protected: + bool _enter() override; + AP_Mission::Mission_Command cmd {}; + bool land_started; + + +private: + + + }; #if HAL_SOARING_ENABLED diff --git a/ArduPlane/mode_autoland.cpp b/ArduPlane/mode_autoland.cpp new file mode 100644 index 00000000000000..bab16b3000b63c --- /dev/null +++ b/ArduPlane/mode_autoland.cpp @@ -0,0 +1,111 @@ +#include "mode.h" +#include "Plane.h" +#include + +/* + mode AutoLand parameters + */ +const AP_Param::GroupInfo ModeAutoLand::var_info[] = { + // @Param: WP_ALT + // @DisplayName: Final approach WP altitude + // @Description: This is the target altitude for final approach waypoint + // @Range: 0 200 + // @Increment: 1 + // @Units: m + // @User: Standard + AP_GROUPINFO("WP_ALT", 1, ModeAutoLand, final_wp_alt, 55), + + // @Param: DIST + // @DisplayName: Final approach WP distance + // @Description: This is the distance from Home that the final approach waypoint is set. The waypoint point will be in the opposite direction of takeoff (the direction the plane is facing when the plane sets its takeoff heading) + // @Range: 0 700 + // @Increment: 1 + // @Units: m + // @User: Standard + AP_GROUPINFO("WP_DIST", 2, ModeAutoLand, final_wp_dist, 400), + + AP_GROUPEND +}; + +ModeAutoLand::ModeAutoLand() : + Mode() +{ + AP_Param::setup_object_defaults(this, var_info); +} + +bool ModeAutoLand::_enter() +{ + //takeoff direction must be set + if (!plane.takeoff_state.takeoffdirectionset) { + gcs().send_text(MAV_SEVERITY_WARNING, "Takeoff initial direction not set,must use autotakeoff"); + return false; + } + + //must be flying to enter + if (!plane.is_flying()) { + return false; + } + + + //if do_land_start exists, jump to it + if( (plane.mission.contains_item(MAV_CMD_DO_LAND_START)) && (plane.arming.is_armed())) { + if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) { + // switch to AUTO + plane.mission.set_force_resume(true); + if (plane.set_mode(plane.mode_auto, ModeReason::FIXED_WING_AUTOLAND)) { + return true; + } + } + } + + //setup final approach waypoint + plane.prev_WP_loc = plane.current_loc; + const Location &home = ahrs.get_home(); + plane.set_target_altitude_current(); + plane.next_WP_loc = home; + uint16_t bearing_cd = wrap_360_cd((plane.takeoff_state.takeoff_initial_direction + 180)*100); + plane.next_WP_loc.offset_bearing(bearing_cd * 0.01f, final_wp_dist); + plane.next_WP_loc.alt = home.alt + final_wp_alt*100; + + // create a command to fly to final approach waypoint and start it + cmd.id = MAV_CMD_NAV_WAYPOINT; + cmd.content.location = plane.next_WP_loc; + plane.start_command(cmd); + land_started = false; + + return true; +} + +void ModeAutoLand::update() +{ + plane.calc_nav_roll(); + plane.calc_nav_pitch(); + plane.set_offset_altitude_location(plane.prev_WP_loc, plane.next_WP_loc); + if (plane.landing.is_throttle_suppressed()) { + // if landing is considered complete throttle is never allowed, regardless of landing type + SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0.0); + } else { + plane.calc_throttle(); + } +} + +void ModeAutoLand::navigate() +{ + // check to see if if we have reached final approach waypoint, switch to NAV_LAND command and start it once if so + if (!land_started){ + if (plane.verify_nav_wp(cmd)){ + const Location &home_loc = ahrs.get_home(); + cmd.id = MAV_CMD_NAV_LAND; + cmd.content.location = home_loc; + land_started = true; + plane.prev_WP_loc = plane.current_loc; + plane.next_WP_loc = home_loc; + plane.set_offset_altitude_location(plane.prev_WP_loc, plane.next_WP_loc); + plane.start_command(cmd); + } + return; + //otherwise keep flying the current command + } else { + plane.verify_command(cmd); + } +} diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp index 5f93cc4729b2b5..fffc2059df8587 100644 --- a/ArduPlane/mode_takeoff.cpp +++ b/ArduPlane/mode_takeoff.cpp @@ -122,6 +122,8 @@ void ModeTakeoff::update() plane.takeoff_state.throttle_max_timer_ms = millis(); takeoff_mode_setup = true; plane.steer_state.hold_course_cd = wrap_360_cd(direction*100); // Necessary to allow Plane::takeoff_calc_roll() to function. + plane.takeoff_state.takeoff_initial_direction = -1; //so we can capture takeoff direction + plane.takeoff_state.takeoffdirectionset = false; } } } @@ -130,6 +132,16 @@ void ModeTakeoff::update() plane.set_flight_stage(AP_FixedWing::FlightStage::NORMAL); takeoff_mode_setup = false; } + + // set takeoff_initial_direction + const float min_gps_speed = 5; + if ((plane.takeoff_state.takeoff_initial_direction == -1) && (plane.gps.ground_speed() > min_gps_speed)) { + plane.takeoff_state.takeoff_initial_direction = plane.gps.ground_course(); + plane.takeoff_state.takeoffdirectionset = true; + gcs().send_text(MAV_SEVERITY_INFO, "Takeoff initial direction= %u",int(plane.takeoff_state.takeoff_initial_direction)); + } + + // We update the waypoint to follow once we're past TKOFF_LVL_ALT or we // pass the target location. The check for target location prevents us