GotoControl: add go-to control interface to mc position controller

goto control class handles smoothing of goto setpoints, outputs trajectory setpoint for mc pos control
some minor encapsulation done in mc pos control for readability
new param MPC_YAWAAUTO_MAX limiting heading accelerations in heading smoother

src/lib/parameters/px4params/srcparser.py

@@ -355,7 +355,7 @@ def Validate(self):
                                 '%', 'Hz', '1/s', 'mAh',
                                 'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m', 'rad s/m',
                                 'bit/s', 'B/s',
-                                'deg', 'deg*1e7', 'deg/s',
+                                'deg', 'deg*1e7', 'deg/s', 'deg/s^2',
                                 'celcius', 'gauss', 'gauss/s', 'gauss^2',
                                 'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3',
                                 'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', '1/s/sqrt(Hz)', 'm/s/rad',

src/modules/mc_pos_control/CMakeLists.txt

@@ -31,6 +31,7 @@
 #
 ############################################################################
 
+add_subdirectory(GotoControl)
 add_subdirectory(PositionControl)
 add_subdirectory(Takeoff)
 
@@ -42,6 +43,7 @@ px4_add_module(
 		MulticopterPositionControl.cpp
 		MulticopterPositionControl.hpp
 	DEPENDS
+		GotoControl
 		PositionControl
 		Takeoff
 		controllib

src/modules/mc_pos_control/GotoControl/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2023 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.
+#
+############################################################################
+
+px4_add_library(GotoControl
+	GotoControl.cpp
+	GotoControl.hpp
+)
+target_include_directories(GotoControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
+target_link_libraries(GotoControl PUBLIC PositionControl)

src/modules/mc_pos_control/GotoControl/GotoControl.cpp

@@ -0,0 +1,210 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file GotoControl.cpp
+ */
+
+#include "GotoControl.hpp"
+#include "PositionControl.hpp"
+
+#include <float.h>
+#include <lib/mathlib/mathlib.h>
+
+void GotoControl::update(const float dt, const matrix::Vector3f &position, const float heading,
+			 const goto_setpoint_s &goto_setpoint, trajectory_setpoint_s &trajectory_setpoint)
+{
+	trajectory_setpoint = PositionControl::empty_trajectory_setpoint;
+
+	const Vector3f position_setpoint(goto_setpoint.position);
+
+	if (!position_setpoint.isAllFinite()) {
+		// TODO: error messaging
+		_need_smoother_reset = true;
+		return;
+	}
+
+	if (!position.isAllFinite()) {
+		// TODO: error messaging
+		_need_smoother_reset = true;
+		return;
+	}
+
+	if (_need_smoother_reset) {
+		resetPositionSmoother(position);
+	}
+
+	setPositionSmootherLimits(goto_setpoint);
+
+	const Vector3f feedforward_velocity{};
+	const bool force_zero_velocity_setpoint = false;
+	PositionSmoothing::PositionSmoothingSetpoints out_setpoints;
+	_position_smoother.generateSetpoints(position, position_setpoint, feedforward_velocity, dt,
+					     force_zero_velocity_setpoint, out_setpoints);
+
+	_position_smoother.getCurrentPosition().copyTo(trajectory_setpoint.position);
+	_position_smoother.getCurrentVelocity().copyTo(trajectory_setpoint.velocity);
+	_position_smoother.getCurrentAcceleration().copyTo(trajectory_setpoint.acceleration);
+	out_setpoints.jerk.copyTo(trajectory_setpoint.jerk);
+
+	if (goto_setpoint.flag_control_heading && PX4_ISFINITE(goto_setpoint.heading) && PX4_ISFINITE(heading)) {
+		if (!_controlling_heading || _need_smoother_reset) {
+			resetHeadingSmoother(heading);
+		}
+
+		setHeadingSmootherLimits(goto_setpoint);
+		_heading_smoother.update(goto_setpoint.heading, dt);
+
+		trajectory_setpoint.yaw = _heading_smoother.getSmoothedHeading();
+		trajectory_setpoint.yawspeed = _heading_smoother.getSmoothedHeadingRate();
+
+		_controlling_heading = true;
+
+	} else {
+		// TODO: error messaging for non-finite headings
+
+		trajectory_setpoint.yaw = NAN;
+		trajectory_setpoint.yawspeed = NAN;
+
+		_controlling_heading = false;
+	}
+
+	trajectory_setpoint.timestamp = goto_setpoint.timestamp;
+
+	_need_smoother_reset = false;
+}
+
+void GotoControl::resetPositionSmoother(const matrix::Vector3f &position)
+{
+	if (!position.isAllFinite()) {
+		// TODO: error messaging
+		_need_smoother_reset = true;
+		return;
+	}
+
+	const Vector3f initial_acceleration{};
+	const Vector3f initial_velocity{};
+	_position_smoother.reset(initial_acceleration, initial_velocity, position);
+
+	_need_smoother_reset = false;
+}
+
+void GotoControl::resetHeadingSmoother(const float heading)
+{
+	if (!PX4_ISFINITE(heading)) {
+		// TODO: error messaging
+		_controlling_heading = false;
+		return;
+	}
+
+	const float initial_heading_rate{0.f};
+	_heading_smoother.reset(heading, initial_heading_rate);
+}
+
+void GotoControl::setPositionSmootherLimits(const goto_setpoint_s &goto_setpoint)
+{
+	// constrain horizontal velocity
+	float max_horizontal_speed = _vehicle_constraints.max_horizontal_speed;
+	float max_horizontal_accel = _vehicle_constraints.max_horizontal_accel;
+
+	if (goto_setpoint.flag_set_max_horizontal_speed
+	    && PX4_ISFINITE(goto_setpoint.max_horizontal_speed)) {
+		max_horizontal_speed = math::constrain(goto_setpoint.max_horizontal_speed, 0.f,
+						       _vehicle_constraints.max_horizontal_speed);
+
+		// linearly scale horizontal acceleration limit with horizontal speed limit to maintain smoothing dynamic
+		// only limit acceleration once within velocity constraints
+		if (_position_smoother.getCurrentVelocityXY().norm() <= max_horizontal_speed) {
+			const float speed_scale = max_horizontal_speed / _vehicle_constraints.max_horizontal_speed;
+			max_horizontal_accel = math::constrain(_vehicle_constraints.max_horizontal_accel * speed_scale,
+							       VelocitySmoothing::kMinAccel,
+							       _vehicle_constraints.max_horizontal_accel);
+		}
+	}
+
+	_position_smoother.setCruiseSpeed(max_horizontal_speed);
+	_position_smoother.setMaxVelocityXY(max_horizontal_speed);
+	_position_smoother.setMaxAccelerationXY(max_horizontal_accel);
+
+	// constrain vertical velocity
+	const bool pos_setpoint_is_below_smooth_pos = goto_setpoint.position[2] - _position_smoother.getCurrentPositionZ() >
+			0.f;
+	const float vehicle_max_vertical_speed = (pos_setpoint_is_below_smooth_pos) ? _vehicle_constraints.max_down_speed :
+			_vehicle_constraints.max_up_speed;
+	const float vehicle_max_vertical_accel = (pos_setpoint_is_below_smooth_pos) ? _vehicle_constraints.max_down_accel :
+			_vehicle_constraints.max_up_accel;
+
+	float max_vertical_speed = vehicle_max_vertical_speed;
+	float max_vertical_accel = vehicle_max_vertical_accel;
+
+	if (goto_setpoint.flag_set_max_vertical_speed && PX4_ISFINITE(goto_setpoint.max_vertical_speed)) {
+
+		max_vertical_speed = math::constrain(goto_setpoint.max_vertical_speed, 0.f, vehicle_max_vertical_speed);
+
+		// linearly scale vertical acceleration limit with vertical speed limit to maintain smoothing dynamic
+		// only limit acceleration once within velocity constraints
+		if (fabsf(_position_smoother.getCurrentVelocityZ()) <= max_vertical_speed) {
+			const float speed_scale = max_vertical_speed / vehicle_max_vertical_speed;
+			max_vertical_accel = math::constrain(vehicle_max_vertical_accel * speed_scale, VelocitySmoothing::kMinAccel,
+							     vehicle_max_vertical_accel);
+		}
+	}
+
+	_position_smoother.setMaxVelocityZ(max_vertical_speed);
+	_position_smoother.setMaxAccelerationZ(max_vertical_accel);
+
+	_position_smoother.setMaxJerkXY(_vehicle_constraints.max_jerk);
+	_position_smoother.setMaxJerkZ(_vehicle_constraints.max_jerk);
+}
+
+void GotoControl::setHeadingSmootherLimits(const goto_setpoint_s &goto_setpoint)
+{
+	float max_heading_rate =  _vehicle_constraints.max_heading_rate;
+	float max_heading_accel = _vehicle_constraints.max_heading_accel;
+
+	if (goto_setpoint.flag_set_max_heading_rate && PX4_ISFINITE(goto_setpoint.max_heading_rate)) {
+		max_heading_rate = math::constrain(goto_setpoint.max_heading_rate, HeadingSmoother::kMinHeadingRate,
+						   _vehicle_constraints.max_heading_rate);
+
+		// linearly scale heading acceleration limit with heading rate limit to maintain smoothing dynamic
+		// only limit acceleration once within velocity constraints
+		if (fabsf(_heading_smoother.getSmoothedHeadingRate()) <= max_heading_rate) {
+			const float rate_scale = max_heading_rate / _vehicle_constraints.max_heading_rate;
+			max_heading_accel = math::constrain(_vehicle_constraints.max_heading_accel * rate_scale,
+							    HeadingSmoother::kMinHeadingAccel, _vehicle_constraints.max_heading_accel);
+		}
+	}
+
+	_heading_smoother.setMaxHeadingRate(max_heading_rate);
+	_heading_smoother.setMaxHeadingAccel(max_heading_accel);
+}