fw pos ctrl: fix state switching logic for takeoff and landing

src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp

@@ -755,19 +755,28 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
 
 	if (((_control_mode.flag_control_auto_enabled && _control_mode.flag_control_position_enabled) ||
 	     _control_mode.flag_control_offboard_enabled) && pos_sp_curr_valid) {
+
 		if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
-			// TAKEOFF: handle like a regular POSITION setpoint if already flying
+
-			if (!in_takeoff_situation() && (_airspeed >= _param_fw_airspd_min.get() || !_airspeed_valid)) {
+			if (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode) {
-				// SETPOINT_TYPE_TAKEOFF -> SETPOINT_TYPE_POSITION
 				_control_mode_current = FW_POSCTRL_MODE_AUTO;
 
+				// in this case we want the waypoint handled as a position setpoint -- a submode in control_auto()
+				_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
+
 			} else {
 				_control_mode_current = FW_POSCTRL_MODE_AUTO_TAKEOFF;
 			}
 
-		} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND
+		} else if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
-			   && !_vehicle_status.in_transition_mode) {
+
-			_control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING;
+			if (!_vehicle_status.in_transition_mode) {
+				_control_mode_current = FW_POSCTRL_MODE_AUTO_LANDING;
+
+			} else {
+				// in this case we want the waypoint handled as a position setpoint -- a submode in control_auto()
+				_pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
+			}
 
 		} else {
 			_control_mode_current = FW_POSCTRL_MODE_AUTO;
@@ -827,58 +836,36 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
 }
 
 void
-FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &curr_pos,
+FixedwingPositionControl::update_in_air_states(const hrt_abstime now)
-				       const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
-				       const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next)
 {
-	const float dt = math::constrain((now - _last_time_position_control_called) * 1e-6f, MIN_AUTO_TIMESTEP,
-					 MAX_AUTO_TIMESTEP);
-	_last_time_position_control_called = now;
-
-	if (_param_fw_use_npfg.get()) {
-		_npfg.setDt(dt);
-
-	} else {
-		_l1_control.set_dt(dt);
-	}
-
-	_att_sp.fw_control_yaw = false;		// by default we don't want yaw to be contoller directly with rudder
-	_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;		// by default we don't use flaps
-
 	/* save time when airplane is in air */
 	if (!_was_in_air && !_landed) {
 		_was_in_air = true;
 		_time_went_in_air = now;
-		_takeoff_ground_alt = _current_altitude;
+		_takeoff_ground_alt = _current_altitude; // XXX: is this really a good idea?
 	}
 
 	/* reset flag when airplane landed */
 	if (_landed) {
 		_was_in_air = false;
 	}
+}
 
-	/* Reset integrators if switching to this mode from a other mode in which posctl was not active */
+float
-	if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
+FixedwingPositionControl::update_position_control_mode_timestep(const hrt_abstime now)
-		/* reset integrators */
+{
-		_tecs.reset_state();
+	const float dt = math::constrain((now - _last_time_position_control_called) * 1e-6f, MIN_AUTO_TIMESTEP,
-	}
+					 MAX_AUTO_TIMESTEP);
-
+	_last_time_position_control_called = now;
-	/* reset hold yaw */
-	_hdg_hold_yaw = _yaw;
-
-	/* get circle mode */
-	const bool was_circle_mode = (_param_fw_use_npfg.get()) ? _npfg.circleMode() : _l1_control.circle_mode();
-
-	/* restore TECS parameters, in case changed intermittently (e.g. in landing handling) */
-	_tecs.set_speed_weight(_param_fw_t_spdweight.get());
-	_tecs.set_height_error_time_constant(_param_fw_t_h_error_tc.get());
 
-	/* Initialize attitude controller integrator reset flags to 0 */
+	return dt;
-	_att_sp.roll_reset_integral = false;
+}
-	_att_sp.pitch_reset_integral = false;
-	_att_sp.yaw_reset_integral = false;
 
-	position_setpoint_s current_sp = pos_sp_curr;
+void
+FixedwingPositionControl::move_position_setpoint_for_vtol_transition(position_setpoint_s &current_sp)
+{
+	// TODO: velocity, altitude, or just a heading hold position mode should be used for this, not position
+	// shifting hacks
 
 	if (_vehicle_status.in_transition_to_fw) {
 
@@ -902,6 +889,25 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
 		_transition_waypoint(0) = static_cast<double>(NAN);
 		_transition_waypoint(1) = static_cast<double>(NAN);
 	}
+}
+
+void
+FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &curr_pos,
+				       const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
+				       const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next)
+{
+	const float dt = update_position_control_mode_timestep(now);
+
+	update_in_air_states(now);
+
+	_hdg_hold_yaw = _yaw;
+
+	_att_sp.roll_reset_integral = false;
+	_att_sp.pitch_reset_integral = false;
+	_att_sp.yaw_reset_integral = false;
+
+	position_setpoint_s current_sp = pos_sp_curr;
+	move_position_setpoint_for_vtol_transition(current_sp);
 
 	const uint8_t position_sp_type = handle_setpoint_type(current_sp.type, current_sp);
 
@@ -912,11 +918,26 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
 		publishOrbitStatus(current_sp);
 	}
 
+	// update lateral guidance timesteps for slewrates
+	if (_param_fw_use_npfg.get()) {
+		_npfg.setDt(dt);
+
+	} else {
+		_l1_control.set_dt(dt);
+	}
+
+	const bool was_circle_mode = (_param_fw_use_npfg.get()) ? _npfg.circleMode() : _l1_control.circle_mode();
+
+	/* restore TECS parameters, in case changed intermittently (e.g. in landing handling) */
+	_tecs.set_speed_weight(_param_fw_t_spdweight.get());
+	_tecs.set_height_error_time_constant(_param_fw_t_h_error_tc.get());
+
 	switch (position_sp_type) {
 	case position_setpoint_s::SETPOINT_TYPE_IDLE:
 		_att_sp.thrust_body[0] = 0.0f;
 		_att_sp.roll_body = 0.0f;
 		_att_sp.pitch_body = radians(_param_fw_psp_off.get());
+		_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
 		break;
 
 	case position_setpoint_s::SETPOINT_TYPE_POSITION:
@@ -932,16 +953,6 @@ FixedwingPositionControl::control_auto(const hrt_abstime &now, const Vector2d &c
 		break;
 	}
 
-	/* reset landing state */
-	if (position_sp_type != position_setpoint_s::SETPOINT_TYPE_LAND) {
-		reset_landing_state();
-	}
-
-	/* reset takeoff/launch state */
-	if (position_sp_type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
-		reset_takeoff_state();
-	}
-
 	if (was_circle_mode && !_l1_control.circle_mode()) {
 		/* just kicked out of loiter, reset roll integrals */
 		_att_sp.roll_reset_integral = true;
@@ -991,6 +1002,8 @@ FixedwingPositionControl::control_auto_fixed_bank_alt_hold(const hrt_abstime &no
 	}
 
 	_att_sp.pitch_body = get_tecs_pitch();
+
+	_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
 }
 
 void
@@ -1019,6 +1032,8 @@ FixedwingPositionControl::control_auto_descend(const hrt_abstime &now)
 
 	_att_sp.thrust_body[0] = (_landed) ? _param_fw_thr_min.get() : min(get_tecs_thrust(), _param_fw_thr_max.get());
 	_att_sp.pitch_body = get_tecs_pitch();
+
+	_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
 }
 
 uint8_t
@@ -1037,15 +1052,8 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons
 
 	uint8_t position_sp_type = setpoint_type;
 
-	if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
+	if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION
-		// TAKEOFF: handle like a regular POSITION setpoint if already flying
+	    || pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
-		if (!in_takeoff_situation() && (_airspeed >= _param_fw_airspd_min.get() || !_airspeed_valid)) {
-			// SETPOINT_TYPE_TAKEOFF -> SETPOINT_TYPE_POSITION
-			position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION;
-		}
-
-	} else if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_POSITION
-		   || pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
 
 		float dist_xy = -1.f;
 		float dist_z = -1.f;
@@ -1082,11 +1090,6 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons
 		}
 	}
 
-	// set to type position during VTOL transitions in Land mode (to not start FW landing logic)
-	if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_LAND && _vehicle_status.in_transition_mode) {
-		position_sp_type = position_setpoint_s::SETPOINT_TYPE_POSITION;
-	}
-
 	return position_sp_type;
 }
 
@@ -1145,8 +1148,7 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const fl
 	// Altitude first order hold (FOH)
 	if (pos_sp_prev.valid && PX4_ISFINITE(pos_sp_prev.alt) &&
 	    ((pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_POSITION) ||
-	     (pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_LOITER) ||
+	     (pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_LOITER))
-	     (pos_sp_prev.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF))
 	   ) {
 		const float d_curr_prev = get_distance_to_next_waypoint((double)curr_wp(0), (double)curr_wp(1),
 					  pos_sp_prev.lat, pos_sp_prev.lon);
@@ -1206,6 +1208,8 @@ FixedwingPositionControl::control_auto_position(const hrt_abstime &now, const fl
 
 	_att_sp.yaw_body = _yaw; // yaw is not controlled, so set setpoint to current yaw
 
+	_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
+
 	tecs_update_pitch_throttle(now, position_sp_alt,
 				   target_airspeed,
 				   radians(_param_fw_p_lim_min.get()),
@@ -1269,6 +1273,8 @@ FixedwingPositionControl::control_auto_velocity(const hrt_abstime &now, const fl
 
 	_att_sp.yaw_body = _yaw;
 
+	_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
+
 	tecs_update_pitch_throttle(now, position_sp_alt,
 				   target_airspeed,
 				   radians(_param_fw_p_lim_min.get()),
@@ -1356,7 +1362,10 @@ FixedwingPositionControl::control_auto_loiter(const hrt_abstime &now, const floa
 		// have to do this switch (which can cause significant altitude errors) close to the ground.
 		_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
 		airspeed_sp = _param_fw_lnd_airspd_sc.get() * _param_fw_airspd_min.get();
-		_att_sp.apply_flaps = true;
+		_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_LAND;
+
+	} else {
+		_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
 	}
 
 	float target_airspeed = get_auto_airspeed_setpoint(now, airspeed_sp, ground_speed, dt);
@@ -1415,10 +1424,17 @@ void
 FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
 {
-	const float dt = math::constrain((now - _last_time_position_control_called) * 1e-6f, MIN_AUTO_TIMESTEP,
+	const float dt = update_position_control_mode_timestep(now);
-					 MAX_AUTO_TIMESTEP);
+
-	_last_time_position_control_called = now;
+	update_in_air_states(now);
+
+	_hdg_hold_yaw = _yaw;
+
+	_att_sp.roll_reset_integral = false;
+	_att_sp.pitch_reset_integral = false;
+	_att_sp.yaw_reset_integral = false;
 
+	// update lateral guidance timesteps for slewrates
 	if (_param_fw_use_npfg.get()) {
 		_npfg.setDt(dt);
 
@@ -1426,6 +1442,10 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const Vec
 		_l1_control.set_dt(dt);
 	}
 
+	/* restore TECS parameters, in case changed intermittently (e.g. in landing handling) */
+	_tecs.set_speed_weight(_param_fw_t_spdweight.get());
+	_tecs.set_height_error_time_constant(_param_fw_t_h_error_tc.get());
+
 	/* current waypoint (the one currently heading for) */
 	Vector2d curr_wp(pos_sp_curr.lat, pos_sp_curr.lon);
 	Vector2d prev_wp{0, 0}; /* previous waypoint */
@@ -1656,10 +1676,17 @@ void
 FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vector2d &curr_pos,
 		const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
 {
-	const float dt = math::constrain((now - _last_time_position_control_called) * 1e-6f, MIN_AUTO_TIMESTEP,
+	const float dt = update_position_control_mode_timestep(now);
-					 MAX_AUTO_TIMESTEP);
+
-	_last_time_position_control_called = now;
+	update_in_air_states(now);
+
+	_hdg_hold_yaw = _yaw;
+
+	_att_sp.roll_reset_integral = false;
+	_att_sp.pitch_reset_integral = false;
+	_att_sp.yaw_reset_integral = false;
 
+	// update lateral guidance timesteps for slewrates
 	if (_param_fw_use_npfg.get()) {
 		_npfg.setDt(dt);
 
@@ -1667,6 +1694,12 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const Vec
 		_l1_control.set_dt(dt);
 	}
 
+	/* restore TECS parameters, in case changed intermittently (e.g. in landing handling) */
+	_tecs.set_speed_weight(_param_fw_t_spdweight.get());
+
+	// Enable tighter altitude control for landings
+	_tecs.set_height_error_time_constant(_param_fw_thrtc_sc.get() * _param_fw_t_h_error_tc.get());
+
 	/* current waypoint (the one currently heading for) */
 	Vector2d curr_wp(pos_sp_curr.lat, pos_sp_curr.lon);
 	Vector2d prev_wp{0, 0}; /* previous waypoint */
@@ -2074,9 +2107,7 @@ void
 FixedwingPositionControl::control_manual_position(const hrt_abstime &now, const Vector2d &curr_pos,
 		const Vector2f &ground_speed)
 {
-	const float dt = math::constrain((now - _last_time_position_control_called) * 1e-6f, MIN_AUTO_TIMESTEP,
+	const float dt = update_position_control_mode_timestep(now);
-					 MAX_AUTO_TIMESTEP);
-	_last_time_position_control_called = now;
 
 	// if we assume that user is taking off then help by demanding altitude setpoint well above ground
 	// and set limit to pitch angle to prevent steering into ground
@@ -2391,6 +2422,8 @@ FixedwingPositionControl::Run()
 
 		set_control_mode_current(_local_pos.timestamp, _pos_sp_triplet.current.valid);
 
+		_att_sp.fw_control_yaw = false;		// by default we don't want yaw to be contoller directly with rudder
+
 		switch (_control_mode_current) {
 		case FW_POSCTRL_MODE_AUTO: {
 				control_auto(_local_pos.timestamp, curr_pos, ground_speed, _pos_sp_triplet.previous, _pos_sp_triplet.current,
@@ -2437,11 +2470,23 @@ FixedwingPositionControl::Run()
 
 				_att_sp.thrust_body[0] = min(_att_sp.thrust_body[0], _param_fw_thr_max.get());
 
+				_att_sp.apply_flaps = vehicle_attitude_setpoint_s::FLAPS_OFF;
+
+				_tecs.reset_state();
+
 				break;
 			}
 
 		}
 
+		if (_control_mode_current != FW_POSCTRL_MODE_AUTO_LANDING) {
+			reset_landing_state();
+		}
+
+		if (_control_mode_current != FW_POSCTRL_MODE_AUTO_TAKEOFF) {
+			reset_takeoff_state();
+		}
+
 		if (_control_mode_current != FW_POSCTRL_MODE_OTHER) {
 
 			if (_control_mode.flag_control_manual_enabled) {

src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp

@@ -350,6 +350,30 @@ private:
 	 * @param dt Time step
 	 */
 	void		update_desired_altitude(float dt);
+
+	/**
+	 * @brief Updates timing information for landed and in-air states.
+	 *
+	 * @param now Current system time [us]
+	 */
+	void update_in_air_states(const hrt_abstime now);
+
+	/**
+	 * @brief Updates the time since the last position control call.
+	 *
+	 * @param now Current system time [us]
+	 * @return Time since last position control call [s]
+	 */
+	float update_position_control_mode_timestep(const hrt_abstime now);
+
+	/**
+	 * @brief Moves the current position setpoint to a value far ahead of the current vehicle yaw when in  a VTOL
+	 * transition.
+	 *
+	 * @param[in,out] current_sp current position setpoint
+	 */
+	void move_position_setpoint_for_vtol_transition(position_setpoint_s &current_sp);
+
 	uint8_t		handle_setpoint_type(const uint8_t setpoint_type, const position_setpoint_s &pos_sp_curr);
 	void		control_auto(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
 				     const position_setpoint_s &pos_sp_prev,