增加高度防撞检测相关：modifySetpointH

fmuv3_build.sh

@@ -6,3 +6,4 @@ date -R
 start_seconds=$(date --date="$starttime" +%s);
 end_seconds=$(date --date="$endtime" +%s);
 echo "本次运行时间： "$((end_seconds-start_seconds))"s"
+cp ./build/px4_fmu-v3_default/px4_fmu-v3_default.px4 /mnt/f/_02-work/100_data/Firmware/px4

src/lib/collision_prevention/CollisionPrevention.cpp

@@ -531,6 +531,123 @@ CollisionPrevention::modifySetpoint(Vector2f &original_setpoint, const float max
 	original_setpoint = new_setpoint;
 }
 
+void
+CollisionPrevention::modifySetpointH(float &original_setpoint, const float max_speed, const float &curr_pos,
+				    const float &curr_vel)
+{
+	//calculate movement constraints based on range data
+	float setpoint = original_setpoint;
+	/******************************************************************/
+
+	// _calculateConstrainedSetpoint(new_setpoint, curr_pos, curr_vel);
+		// read parameters
+	static float min_distance;
+	static float max_distance;
+	static float up_distance;
+    static uint64_t _data_h_timestamps;
+    static uint64_t _dist_timestamps;
+
+    // 获取测距距离值相关
+    for (auto &dist_sens_sub : _distance_sensor_subs) {
+        distance_sensor_s distance_sensor;
+
+        if (dist_sens_sub.update(&distance_sensor)) {
+            // consider only instances with valid data and orientations useful for collision prevention
+            // 距离值有效，并且是朝上的距离
+            if ((getElapsedTime(&distance_sensor.timestamp) < RANGE_STREAM_TIMEOUT_US) &&
+                (distance_sensor.orientation == distance_sensor_s::ROTATION_UPWARD_FACING)) {
+
+                // update message description
+                _dist_timestamps = distance_sensor.timestamp;
+                max_distance = math::max(max_distance,(distance_sensor.max_distance ));
+                min_distance = math::min(min_distance,(distance_sensor.min_distance ));
+
+                up_distance = distance_sensor.current_distance;
+            }
+        }
+    }
+    // 获取一些参数设置
+	const float col_prev_d = _param_cp_dist.get();
+	const float col_prev_dly = _param_cp_delay.get();
+	const bool move_no_data = _param_cp_go_nodata.get();
+	const float xy_p = _param_mpc_xy_p.get();
+	const float max_jerk = _param_mpc_jerk_max.get();
+	const float max_accel = _param_mpc_acc_hor.get();
+
+	const float setpoint_length = setpoint;
+	const hrt_abstime constrain_time = getTime();
+
+
+	if ((constrain_time - _dist_timestamps) < RANGE_STREAM_TIMEOUT_US) {
+		if (setpoint_length > 0.001f) {
+			float vel_max = setpoint_length;
+            // 最小停留距离，测距最小值或者参数设置停留值
+			const float min_dist_to_keep = math::max(min_distance / 100.0f, col_prev_d);
+            // 删除过时的值
+            const hrt_abstime data_age = constrain_time - _data_h_timestamps;//TODO: _data_timestamps需要赋值
+            if (data_age > RANGE_STREAM_TIMEOUT_US) {
+                up_distance = UINT16_MAX * 0.01f;
+            }
+            const float distance = up_distance;
+            const float max_range = max_distance + 0.005f;
+
+            if (distance > _obstacle_map_body_frame.min_distance && distance < UINT16_MAX * 0.01f) {
+
+                    // calculate max allowed velocity with a P-controller (same gain as in the position controller)
+                    const float curr_vel_parallel = math::max(0.f, curr_vel);
+                    float delay_distance = curr_vel_parallel * col_prev_dly;
+                    if (distance < max_range) {
+                        delay_distance += curr_vel_parallel * (data_age * 1e-6f);
+                    }
+                    const float stop_distance = math::max(0.f, distance - min_dist_to_keep - delay_distance);
+                    const float vel_max_posctrl = xy_p * stop_distance;
+
+                    const float vel_max_smooth = math::trajectory::computeMaxSpeedFromDistance(max_jerk, max_accel, stop_distance, 0.f);
+					float vel_max_bin = math::min(vel_max_posctrl, vel_max_smooth) ;
+                    // constrain the velocity
+                    if (vel_max_bin >= 0) {
+                        vel_max = math::min(vel_max, vel_max_bin);
+                    }
+
+            }else if (distance >= UINT16_MAX * 0.01f ) {
+					if (!move_no_data || (move_no_data)) {
+						vel_max = 0.f;
+					}
+				}
+
+            setpoint = vel_max;
+		}
+	} else {
+		//allow no movement
+		float vel_max = 0.f;
+		setpoint = setpoint * vel_max;
+
+		// if distance data is stale, switch to Loiter
+		if (getElapsedTime(&_last_timeout_warning) > 1_s && getElapsedTime(&_time_activated) > 1_s) {
+
+			if ((constrain_time - _dist_timestamps) > TIMEOUT_HOLD_US
+			    && getElapsedTime(&_time_activated) > TIMEOUT_HOLD_US) {
+				_publishVehicleCmdDoLoiter();
+			}
+
+			_last_timeout_warning = getTime();
+		}
+
+
+	}
+    _data_h_timestamps = getTime();
+	/******************************************************************/
+
+	//warn user if collision prevention starts to interfere
+	bool currently_interfering = (setpoint < original_setpoint - 0.05f * max_speed
+				      || setpoint > original_setpoint + 0.05f * max_speed);
+
+	_interfering = currently_interfering;
+
+
+	original_setpoint = setpoint;
+}
+
 void CollisionPrevention::_publishVehicleCmdDoLoiter()
 {
 	vehicle_command_s command{};

src/lib/collision_prevention/CollisionPrevention.hpp

@@ -81,6 +81,8 @@ public:
 	 */
 	void modifySetpoint(matrix::Vector2f &original_setpoint, const float max_speed,
 			    const matrix::Vector2f &curr_pos, const matrix::Vector2f &curr_vel);
+	void modifySetpointH(float &original_setpoint, const float max_speed,
+			    const float &curr_alt, const float &curr_vel_z);
 
 protected: