From ed0e799cab851c80095306c7ca3afda26aa2826d Mon Sep 17 00:00:00 2001 From: NageZeng Date: Mon, 9 May 2022 00:23:09 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E9=AB=98=E5=BA=A6=E9=98=B2?= =?UTF-8?q?=E6=92=9E=E6=A3=80=E6=B5=8B=E7=9B=B8=E5=85=B3=EF=BC=9AmodifySet?= =?UTF-8?q?pointH?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- fmuv3_build.sh | 1 + .../CollisionPrevention.cpp | 117 ++++++++++++++++++ .../CollisionPrevention.hpp | 2 + 3 files changed, 120 insertions(+) diff --git a/fmuv3_build.sh b/fmuv3_build.sh index 8dfc6f4ca7..77714a9e0c 100755 --- a/fmuv3_build.sh +++ b/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 diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp index 6a4cfb723c..8566e9869a 100644 --- a/src/lib/collision_prevention/CollisionPrevention.cpp +++ b/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{}; diff --git a/src/lib/collision_prevention/CollisionPrevention.hpp b/src/lib/collision_prevention/CollisionPrevention.hpp index aaff04e2cb..e59f8dade9 100644 --- a/src/lib/collision_prevention/CollisionPrevention.hpp +++ b/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: