Treat UAVS diffrently from manned aviation #13159

LowOrbitIonCannon · 2019-10-11T10:48:06Z

Using ADSB transmitter data existing or not.

A seperation distance of 10 Meters should suffice for D2D Collision avoidance. This is needed to test the collision avoidance of UAVs. 500 Meters is an unnecessary Distance for UAVs.

Describe problem solved by the proposed pull request
500 Meters is an unnecessary Distance for UAV to UAV Collision avoidance

Describe your preferred solution
A Flag that decides if the encountered entity is Manned or an UAV

Additional context
Collision avoidance uses UTM_Global_Position as per this PR
Testing Collision avoidance would mean a seperation distance of 500 meters.

@hamishwillee rightly informed me of the docs changes needed with this request:
http://docs.px4.io/master/en/advanced_features/traffic_avoidance_adsb.html#implementation

#11262

hamishwillee · 2019-10-13T08:57:20Z

@ItsTimmy Don't know if you have interest in this since you looked at this code recently.

LorenzMeier · 2019-10-15T12:16:09Z

Hey! Sorry, I've been traveling (and still are). What is your testing state with this PR?

LowOrbitIonCannon · 2019-10-16T06:15:34Z

I wasnt yet able to test, I hope I can do that this week.

LowOrbitIonCannon · 2019-10-29T13:41:16Z

I was able to Test today:

Tested was wether the Drone will Warn in QGC if there is another UAV nearby:

Testing Drone Traffic Warning with a Drone and a Rover

Test Setup:
Drone with D2X Module and QGC Groundstation.
Rover with D2X Module and D2X Groundstation.
Modified Firmware running only on the Drone
"NAV_TRAFFIC_AVOID" in Warn Mode
MavLink Messages where send over Telem. 2 port to D2X.

Drone on NXP building terrace one and Rover on terrace two, distance between both is greater than 10 Meters.

Setup Pictures:

Stage 2:

Test:
Stage 1:
Drone and Rover where switched on and started sending and receiving MavLink Messages.
Rover was emitting Collision warnings. Drone did not send those Messages:

Stage 2:
Rover moved over to terrace one, upon regain of GPS lock, the Drone was emitting Traffic Warnings:

Test was therefore successful.

dk7xe · 2019-11-04T09:11:53Z

Hey! Sorry, I've been traveling (and still are). What is your testing state with this PR?

Hi @LorenzMeier testing was successful. See #13159 (comment)
Who can take care on moving that forward?

@ItsTimmy may you please review, comment and merge if ok. Thank you!

src/modules/navigator/navigator_main.cpp

LowOrbitIonCannon · 2019-11-11T19:42:22Z

I'll test this with @ItsTimmy suggestions again on Wednesday.

Build Error on Nxp_fmuk66-v3: Cast from 'Constant Char*' to 'constant uint16_t*'

LowOrbitIonCannon · 2019-11-12T09:43:08Z

I referenced the Mavlink Variable "ADSB_EMITTER_TYPE" in Navigator_Main, (I Included Mavlink in the Cmake.txt) Px4 builds correctly but i get this Error when i Build nxp_fmuk66-v3:

@davids5 could you take a look at this?

Todo fix and enable

Added fourth fake_traffic message, added additional info to Mavlink warnings these wont be displayed in QGC due to Message Link Limitation but are written to log.

LowOrbitIonCannon · 2019-11-20T09:45:18Z

I Added a simulated drone to fake_traffic and used that to validate my changes.
Here ist the flight Log.

What i tested:

Standard Params
Start with Warn only.
NAV_TRAFF_AVOID =1
NAV_TRAFF_A_RADM= 500
NAV_TRAFF_A_RADM= 10

No warnings
Start with Warn only.
NAV_TRAFF_AVOID =1
NAV_TRAFF_A_RADM= 40
NAV_TRAFF_A_RADM= 5

All Warnings
Start with Warn only.
NAV_TRAFF_AVOID =1
NAV_TRAFF_A_RADM= 15000
NAV_TRAFF_A_RADM= 50

RETURN TO LAUNCH
NAV_TRAFF_AVOID =2
NAV_TRAFF_A_RADM= 15000
NAV_TRAFF_A_RADM= 50

LAND MODE
NAV_TRAFF_AVOID =3
NAV_TRAFF_A_RADM= 15000
NAV_TRAFF_A_RADM= 50

NO WARNING
NAV_TRAFF_AVOID =0
NAV_TRAFF_A_RADM= 15000
NAV_TRAFF_A_RADM= 50

All Messages where cut of at 50 Digits, in QGC, due to this limitation.
The log displays the Full message.
MAVLINK STATUSTEXT

NAV_TRAFFIC_AVOID = 3 is not implemented yet. So won't do anything.
(Land Mode)

This shows that the Parameter works correctly and Changes the distance PX4 Considers a Collision warning.

LowOrbitIonCannon · 2019-11-20T10:25:57Z

src/modules/navigator/CMakeLists.txt

@@ -34,6 +34,10 @@
 px4_add_module(
 	MODULE modules__navigator
 	MAIN navigator
+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable


This is how it is Implemented in the CMakeLists.txt off mavlink_receiver.cpp.
This will need fixfin in the future

PX4/PX4-Autopilot#13159

davids5 · 2019-11-20T12:19:09Z

@mrpollo - Please add for dev call

dagar · 2019-11-20T17:10:42Z

src/modules/navigator/CMakeLists.txt

+	COMPILE_FLAGS
+		-Wno-cast-align # TODO: fix and enable
+	INCLUDES
+		${PX4_SOURCE_DIR}/mavlink/include/mavlink


We don't want to directly access mavlink outside of the mavlink module.

Added Behavior: HOLD Position to collision avoidance mode. and implemented Landmode to collision avoidance.

LowOrbitIonCannon · 2019-12-02T15:09:54Z

Added Behavior: Hold Position to collision avoidance mode.
and implemented Landmode to collision avoidance.

Landmode was not implemented in PX4.
Hold Position should be an available option to avoid Collisions

The German DLR wanted the Hold Position function for a Demo

While testing I found out that Check_Traffic will respond to selfpublished Uorb messages of Transponder_report.

hamishwillee · 2019-12-03T21:29:05Z

FYI only, last set of docs discussed for this feature are here: PX4/PX4-user_guide#527. Still waiting on clarification.

hamishwillee · 2019-12-03T21:52:05Z

I like the PR, but I expect a 10m minimum separation is too small. Drones can be moving quite fast, and there won't be time to react unless the transponder publish rate is very high.

Collision avoidance ignores messages with the Uas_id identical to Board GUID

Changed location where Selfpublished UTM msg are ignored from Navigator_main to Mavlink_reciever fixed mavlink critical warning wrong value being send

LowOrbitIonCannon · 2019-12-10T16:18:51Z

I had an interesting Testing day.

I changed where the UTM message is captured and ignored:
before it is send to Uorb to reduce Ressource usage.
These self published messages are reliably ignored now.

while Testing on the ground with 2 Vehicles.
@dk7xe and me found out that the Parameter set in QGC for nav_traff_radx is off by a factor of 10.

We had trouble getting Collision messages on the modified Drone.
When we set down Drone 2 at a Distanz of 4 meters we could only get Collision messages:
40<nav_traff_radx
In the Documentation setting this distanz to 40 should set the Collision Distance to 40 meters not 4 meters.

more testing Confirmed the issues we where having today.

Iam not sure why this happens. Is this due to the way the Parameter is Defined in QGC?

To warn the user I programmed the uas_id parameter into the mavlink_warning

Flight log

Boards where no Hardware GUID is defined will send 0 as GUID. rightnow COllision avoidance for more then one FMU with out Hardware GUID is not possible. We should consider adding a randomly generated HW GUID as a placeholder for legacy Boards

LowOrbitIonCannon · 2019-12-11T10:06:37Z

Boards with no HW GUID will send 0 as their UAS_ID.

This means that Collision avoidance between two drones that dont have a HWGUID will not be processed.

This should be written down in Documentation.
And/Or maybe consider adding a Randomly generated HW UID as a Placeholder to Legacy Boards?

This is the solution for no HW UID. maybe replace this.

i removed the report of emitter_type to mavlink to reduce footprint

LowOrbitIonCannon · 2019-12-12T09:51:10Z

Succsessfully Tested.

LOG

Test was wether the Drone reacts correctly to changes in Nav_traff_RadU
and at what distance.

Observed could be that the Parameter defined in QGC changes the maximum Distance a Collision is called.
Self Published UTM_global_position messages where successfully ignored.

hamishwillee · 2019-12-13T01:23:34Z

@julianoes FYI I am not tracking this discussion. Happy to rejoin when there are docs to be done.

LowOrbitIonCannon · 2020-01-09T13:26:52Z

LOG
This log Does not show the Mavlink Error messages anymore.
They where caused by missmatched Submodules to the newer build.
Updating the subs removed the Errors.

Everything works now. @dagar could you Review it please?

I already started with the Updates to the Documentation and will make a PR when this PR is approved.

dagar · 2020-01-17T16:49:43Z

src/modules/navigator/navigator_main.cpp

+							// ask the commander to land
+							vehicle_command_s vcmd = {};
+							vcmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
+							publish_vehicle_cmd(&vcmd);


This is okay as a test, but if we want it to exist long term it should really be tied into the state machine a little more directly.

dagar · 2020-01-17T16:53:14Z

src/modules/navigator/navigator_main.cpp

@@ -898,7 +898,7 @@ Navigator::load_fence_from_file(const char *filename)
 *
 */
 void Navigator::fake_traffic(const char *callsign, float distance, float direction, float traffic_heading,
-			     float altitude_diff, float hor_velocity, float ver_velocity)
+			     float altitude_diff, float hor_velocity, float ver_velocity, int emitter_type)


Suggested change

float altitude_diff, float hor_velocity, float ver_velocity, int emitter_type)

float altitude_diff, float hor_velocity, float ver_velocity, uint16_t emitter_type)

Type should match the size used in the message definition.

dagar · 2020-01-17T16:54:33Z

I didn't go through the specific utm_global_position handling in detail, but overall from PX4/Firmware perspective this change looks like safe to merge.

hamishwillee · 2020-01-30T00:45:57Z

src/modules/navigator/navigator_params.c

 *
 * @group Mission
 */
 PARAM_DEFINE_INT32(NAV_TRAFF_AVOID, 1);

+/**
+ * Set NAV TRAFFIC AVOID RADIUS MANNED


@LowOrbitIonCannon Can we have a new PR to change this to more natural formatting?

Set avoidance radius/distance for manned vehicles (ADS-B/FLARM).

hamishwillee · 2020-01-30T00:46:58Z

src/modules/navigator/navigator_params.c

+/**
+ * Set NAV TRAFFIC AVOID RADIUS MANNED
+ *
+ * Defines the Radius where NAV TRAFFIC AVOID is Called


@LowOrbitIonCannon Can we have a new PR to change this to more natural formatting?

Defines the avoidance radius/distance at which the avoidance action is triggered for for manned vehicles (ADS-B/FLARM).

hamishwillee · 2020-01-30T00:48:29Z

src/modules/navigator/navigator_params.c

+PARAM_DEFINE_FLOAT(NAV_TRAFF_A_RADM, 500);
+
+/**
+ * Set NAV TRAFFIC AVOID RADIUS


@LowOrbitIonCannon Can we have a new PR to change this to more natural formatting?

... following pattern as I put above

ready 4 test

0627f5d

LowOrbitIonCannon changed the title ~~ready 4 test~~ Treat UAVS diffrently from manned aviation Oct 11, 2019

weekly-digest bot mentioned this pull request Oct 13, 2019

Weekly Digest (6 October, 2019 - 13 October, 2019) #13171

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weekly-digest bot mentioned this pull request Oct 20, 2019

Weekly Digest (13 October, 2019 - 20 October, 2019) #13236

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AmeliaEScott self-requested a review November 7, 2019 09:39

AmeliaEScott reviewed Nov 7, 2019

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src/modules/navigator/navigator_main.cpp Outdated Show resolved Hide resolved

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Parameters and changes

792e182

julianoes previously approved these changes Nov 8, 2019

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Parameter for Unmanned and Manned Aviation Avoid Distance

a37b245

LowOrbitIonCannon dismissed julianoes’s stale review via a37b245 November 11, 2019 16:16

Parameters Updated

d80c566

Referenc ADSB_EMITER_TYPE Variable,

46683ed

Build Error on Nxp_fmuk66-v3: Cast from 'Constant Char*' to 'constant uint16_t*'

LowOrbitIonCannon added 2 commits November 13, 2019 08:18

Fixed Compiler Error by -Wno-cast-align

eec96b5

Todo fix and enable

Added Testing functionality,

2d6e930

Added fourth fake_traffic message, added additional info to Mavlink warnings these wont be displayed in QGC due to Message Link Limitation but are written to log.

LowOrbitIonCannon commented Nov 20, 2019

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LowOrbitIonCannon added a commit to LowOrbitIonCannon/px4_user_guide that referenced this pull request Nov 20, 2019

UPDATING to PR 13159

b217036

PX4/PX4-Autopilot#13159

LowOrbitIonCannon mentioned this pull request Nov 20, 2019

UPDATING to PR 13159 LowOrbitIonCannon/px4_user_guide#1

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dagar reviewed Nov 20, 2019

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dagar self-requested a review November 20, 2019 17:11

LowOrbitIonCannon added 2 commits November 21, 2019 11:34

Added NAV_TRAFF_AVOID Hold and Landmode

2df30d3

Added Behavior: HOLD Position to collision avoidance mode. and implemented Landmode to collision avoidance.

Added ADSB parameter to Transponder_report

e52acc5

LowOrbitIonCannon added 2 commits December 2, 2019 15:57

Changed Warning messages and Merged HoldPosition and Collision Avoidance

9632efb

Merge branch 'testing' into r4t

3c8e440

LowOrbitIonCannon mentioned this pull request Dec 2, 2019

UTM_Global_position Identification system #13659

Open

LowOrbitIonCannon added 2 commits December 9, 2019 14:43

ignore selfsend UTM msg.

2d7ecfd

Collision avoidance ignores messages with the Uas_id identical to Board GUID

Changed mavlink reciever to ignore selfüublished messages

4d5460d

Changed location where Selfpublished UTM msg are ignored from Navigator_main to Mavlink_reciever fixed mavlink critical warning wrong value being send

LowOrbitIonCannon added 2 commits December 11, 2019 14:15

Reduced size to fit into px4-fmu-v2

b9d1137

i removed the report of emitter_type to mavlink to reduce footprint

Merge branch 'master' into r4t

71d4a81

Merge branch 'master' into r4t

c217c6a

dagar reviewed Jan 17, 2020

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dagar added the Admin: Enhancement (improvement) 💡 label Jan 17, 2020

dagar reviewed Jan 17, 2020

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Merge branch 'master' into r4t

cbce64e

dagar approved these changes Jan 17, 2020

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dagar merged commit 7dd949e into PX4:master Jan 17, 2020

LowOrbitIonCannon deleted the r4t branch January 28, 2020 08:56

LowOrbitIonCannon mentioned this pull request Jan 30, 2020

Traffic Collision Avoidance, Treat UAVS differently from manned aviation PX4/PX4-user_guide#640

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LowOrbitIonCannon mentioned this pull request Jan 30, 2020

Cosmetic changes to navigator_params #14065

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Treat UAVS diffrently from manned aviation #13159

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	float altitude_diff, float hor_velocity, float ver_velocity, int emitter_type)
	float altitude_diff, float hor_velocity, float ver_velocity, uint16_t emitter_type)

Treat UAVS diffrently from manned aviation #13159

Treat UAVS diffrently from manned aviation #13159

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