FollowMe : Replace First order target position filter with Second ord…

…er position and velocity filter Follow me : tidied second order filter implementation Added velocity filtered info to uORB follow target status message, and rebase to potaito/new-follow-me-task FollowMe : Rebasing and missing definition fixes on target position second order filter Follow Me : Remove Alpha filter delay compensation code, since second order filter is used for pose filtering now Followme : Remove unused target pose estimation update function Follow Target : Added Target orientation estimation logic Follow Target : Replaced offset vector based setpoint to rate controlled orbital angle control Follow Target : Bug fixes and first working version of rate based control logic, still buggy Follow Target : Added target orientation, follow angle, orbit angle value into follow_target_status uORB message for debugging Follow Target : Fix orbit angle step calculation typo bug Follow Target : Few more fixes Follow Target : Few fixes and follow angle value logging bug fix Follow Target : Added lowpass alpha filter for yaw setpoint filtering Follow Target : Remove unused filter delay compensation param Follow Target : Add Yaw setpoint filter initialization logic and bufix for when unwrap had an input of NAN angle value Follow Target : Add Yaw setpoint filtering enabler parameter Follow Target : Change Target Velocity Deadzone to 1.0 m/s, to accomodate walking speed of 1.5 m/s Follow Target : Add Orbit Tangential Velocity calculation for velocity setpoint and logging uORB topics Follow target : Fix indentation in yaw setpoint filtering logic Follow Target : Fix Follow Target Estimator timeout logic bug that was making the 2nd order pose filter reset to raw value every loop Follow Target : Remove debug printf statement for target pose filter reset check Follow Target : Add pose filter natural frequency parameter for filter testing Follow Target : Make target following side param selectable and add target pose filter natural frequency param description Follow Target : Add Terrain following altitude mode and make 2D altitude mode keep altitude relative to the home position, instead of raw local position origin Follow Target : Log follow target estimator & status at full rate for filter characteristics test Follow Target : Implementing RC control user input for Follow Target control Follow Target : edit to conform to updated unwrap_pi function Follow Target : Make follow angle, distance and height RC command input configurable Follow Target : Make Follow Target not interruptable by moving joystick in Commander Follow Target : reconfigure yaw, pitch and roll for better user experience in RC adjusting configurations, and add angular rate limit taking target distance into account Follow Target : Change RC channels used for adjustments and re-order header file for clarity Follow Target : Fix Parameters custom parent macro, since using DEFINE_PARAMETERS alone misses the parameter updates of the parent class, FlightTask Follow Target : Fix Orbit Tangential speed actually being angular rate bug, which was causing a phenomenon of drnoe getting 'dragged' towards the target velocity direction Follow Target : Final tidying and refactoring for master merge - step 1 Add more comments on header file Follow Target : tidy, remove unnecessary debug uORB elements from follow_target_status message Follow Target : Turn off Yaw filtering by default Follow Target : Tidy maximum orbital velocity calculation Follow Target : add yaw setpoint filter time constant parameter for testing and fix NAV_FT_HT title Follow Target : Add RC adjustment window logic to prevent drone not catching up the change of follow target parameters Follow Target : fixes Follow Target: PR tidy few edits remove, and update comments Follow Target : apply comments and reviews Follow Target : Edit according to review comments part 2 Follow Target : Split RC adjustment code and other refactors - Splitted the RC adjustment into follow angle, height and distance - Added Parameter change detection to reset the follow properties - Added comments and removed yaw setpoint filter enabler logic Follow Target : Modify orbit angle error bufferzone bug that was causing excessive velocity setpoints when setpoint catched up with raw orbit setpoint Follow Target : Remove buffer zone velocity ramp down logic and add acceleration and rate limited Trajectory generation library for orbit angle and velocity setpoint Follow Target : Remove internally tracked data from local scope function's parameters to simplify code Follow Target : Fix to track unwrapped orbit angle, with no wrapping Follow Target : Apply user adjustment deadzone to reduce sensitivity Follow Target : Apply suggestions from PR review round 2 by @potaito Revert submodule update changes, fall back to potaito/new-followme-task Follow Target : [Debug] Expose max vel and acceleration settings as parameters, instead of using Multicopter Position Controller 's settings Follow Target : Use matrix::isEqualF() function to compare floats Follow Target : Add Acceleration feedback enabler parameter and Velocity ramp in initial commit for overshoot phenomenon improvement Follow Target : Implement Velocity feed forward limit and debug logging values Follow Target : Apply Velocity Ramp-in for Acceleration as well & Apply it to total velocity setpoint and not just orbit tangential velocity component Follow Target : Don't set Acceleration setpoint if not commanded Follow Target : Use Jerk limited orbit angle control. Add orbit angle tracking related uORB values" Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle Revert "Follow Target : Add Orbit Angle Setpoint Rate Tracking filter, to take into consideration for calculating velocity setpoint for trajectory generator for orbit angle" This reverts commit a3f48ac. Follow Target : Take Unfiltered target velocity into acount for target course calculation to fix overshoot orbit angle 180 deg flip problem Follow Target : Remove Yaw Filter since it doesn't make a big difference in yaw jitterness Follow Target : Remove velocity ramp in control & remove debug values from follow_target_status.msg Follow Target : Tidy Follow Target Status message logging code Follow Target : Remove jerk and acceleration settings from Follow Target orbit trajectory generation Follow Target : Change PublicationMulti into Publication, since topics published are single instances Follow Target : Edit comments to reflect changes in the final revision of Follow Target Follow Target : Apply incorrectly merged conflicts during rebase & update Sticks function usage for getThrottled() Follow Target : Apply final review comments before merge into Alessandro's PR Apply further changes from the PR review, like units Use RC Sticks' Expo() function for user adjustments to decrease sensitivity around the center (0 value) Update Function styles to lowerCamelCase And make functions const & return the params, rather than modifying them internally via pointer / reference Specify kFollowPerspective enum as uint8_t, so that it can't be set to negative value when converted from the parameter 'FLW_TGT_FP' Fix bug in updateParams() to reset internally tracked params if they actually changed. Remove unnecessary comments Fix format of the Follow Target code Fix Follow Perspective Param metadata follow-me: use new trajectory_setpoint msg Convert FollowPerspective enum into a Follow Angle float value 1. Increases flexibility in user's side, to set any arbitrary follow angle [deg] 2. Removes the need to have a dedicated Enum, which can be a hassle to make it match MAVSDK's side 3. A step in the direction of adding a proper Follow Mode (Perspective) mode support, where we can support kite mode (drone behaves as if it is hovering & getting dragged by the target with a leash) or a constant orbit angle mode (Drone always on the East / North / etc. side, for cinematic shots) Continue fixing Follow Target MAVSDK code to match MAVSDK changes - Support Follow Angle configuration instead of Follow Direction - Change follow position tolerance logic to use the follow angle *Still work in progress! Update Follow Me MAVSDK Test Code to match MAVSDK v2 spec - Add RC Adjustment Test case - Change follow direction logic to follow angle based logic completely - Cleanup on variable names and comment on code follow-me: disable SITL test Need to update MAVSDK with the following PR: mavlink/MAVSDK#1770 SITL is failing now because the follow-me perspectives are no longer defined the same way in MAVSDK and in the flight task. update copyright year follow-me: mark uORB topics optional Apply review comments more copyright years follow-me sitl test: simpler "state machine" flight_mode_manager: exclude AutoFollowTarget and Orbit on flash contrained boards Remove unnecessary follow_target_status message properties - As it eats up FLASH and consumes uLog bandwidth
PX4 · Jun 16, 2022 · 8bae4e5 · 8bae4e5
1 parent de1fa11
commit 8bae4e5
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Showing 16 changed files with 740 additions and 554 deletions.
diff --git a/msg/follow_target_status.msg b/msg/follow_target_status.msg
@@ -1,5 +1,12 @@
-uint64 timestamp             # time since system start (microseconds)
+uint64 timestamp                  # [microseconds] time since system start
 
-float32[3] pos_est_filtered  # Lowpass-filtered target position used for vehicle's setpoint generation
-bool emergency_ascent
-float32 gimbal_pitch
+float32 tracked_target_course     # [rad] Tracked target course in NED local frame (North is course zero)
+float32 follow_angle              # [rad] Current follow angle setting
+
+float32 orbit_angle_setpoint      # [rad] Current orbit angle setpoint from the smooth trajectory generator
+float32 angular_rate_setpoint     # [rad/s] Angular rate commanded from Jerk-limited Orbit Angle trajectory for Orbit Angle
+
+float32[3] desired_position_raw   # [m] Raw 'idealistic' desired drone position if a drone could teleport from place to places
+
+bool in_emergency_ascent          # [bool] True when doing emergency ascent (when distance to ground is below safety altitude)
+float32 gimbal_pitch              # [rad] Gimbal pitch commanded to track target in the center of the frame
diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp
@@ -3376,7 +3376,6 @@ Commander::update_control_mode()
 		break;
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
@@ -3444,6 +3443,10 @@ Commander::update_control_mode()
 
 		break;
 
+	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
+
+	// Follow Target supports RC adjustment, so disable auto control mode to disable
+	// the Flight Task from exiting itself when RC stick movement is detected.
 	case vehicle_status_s::NAVIGATION_STATE_ORBIT:
 		_vehicle_control_mode.flag_control_manual_enabled = false;
 		_vehicle_control_mode.flag_control_auto_enabled = false;

diff --git a/src/modules/flight_mode_manager/CMakeLists.txt b/src/modules/flight_mode_manager/CMakeLists.txt
@@ -36,24 +36,10 @@
 # Prepare flight tasks
 ###########################################
 
-# add upstream flight tasks (they are being handled differently from the core inside the python script)
-list(APPEND flight_tasks_to_add
-	Orbit
-)
-# remove possible duplicates
-list(REMOVE_DUPLICATES flight_tasks_to_add)
-
-# remove flight tasks depending on target
-if(flight_tasks_to_remove)
-	list(REMOVE_ITEM flight_tasks_to_add
-		${flight_tasks_to_remove}
-	)
-endif()
-
 # add core flight tasks to list
+set(flight_tasks_all)
 list(APPEND flight_tasks_all
 	Auto
-	AutoFollowTarget
 	Descend
 	Failsafe
 	ManualAcceleration
@@ -62,9 +48,15 @@ list(APPEND flight_tasks_all
 	ManualPosition
 	ManualPositionSmoothVel
 	Transition
-	${flight_tasks_to_add}
 )
 
+if(NOT px4_constrained_flash_build)
+	list(APPEND flight_tasks_all
+		AutoFollowTarget
+		Orbit
+	)
+endif()
+
 # set the files to be generated
 set(files_to_generate
 	FlightTasks_generated.hpp

diff --git a/src/modules/flight_mode_manager/FlightModeManager.cpp b/src/modules/flight_mode_manager/FlightModeManager.cpp
@@ -200,7 +200,11 @@ void FlightModeManager::start_flight_task()
 	// Auto-follow me
 	if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) {
 		should_disable_task = false;
-		FlightTaskError error = switchTask(FlightTaskIndex::AutoFollowTarget);
+		FlightTaskError error = FlightTaskError::InvalidTask;
+
+#if !defined(CONSTRAINED_FLASH)
+		error = switchTask(FlightTaskIndex::AutoFollowTarget);
+#endif // !CONSTRAINED_FLASH
 
 		if (error != FlightTaskError::NoError) {
 			if (prev_failure_count == 0) {

diff --git a/src/modules/flight_mode_manager/tasks/AutoFollowTarget/CMakeLists.txt b/src/modules/flight_mode_manager/tasks/AutoFollowTarget/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022 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