Skip to content

Commit

Permalink
Common: Future: Plane: QRTL: add interactive return path
Browse files Browse the repository at this point in the history
  • Loading branch information
@IamPete1
IamPete1 committed Jan 27, 2023
1 parent 9640d89 commit bf8c8f8
Showing 1 changed file with 197 additions and 0 deletions.
197 changes: 197 additions & 0 deletions common/source/docs/common-future-wiki-changes.rst
View file
Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,203 @@ Add note to Battery Failsafe Section:

.. note:: the battery low failsafe voltage must be higher than the battery critical failsafe voltage or a pre-arm error will occur.

on the :ref:`qrtl-mode` page add the following at the end of the page:
======================================================================

Return Altitude
===============

If VTOL motors are active when QRTL is entered (ie in a VTOL mode or QAssist), the vehicle will first climb vertically before returning home. The altitude to which the vehicle climbs depends on the distance from home as shown below given the parameters entered below. The return path can be shown by clicking on the graph anywhere, at the distance from home that QRTL will be entered.

Altitude will be above terrain if terrain following is enabled. If not, altitude will be above home.

.. note:: If the vehicle is within one and a half times :ref:`RTL_RADIUS<RTL_RADIUS>` or :ref:`WP_LOITER_RAD<WP_LOITER_RAD>` (whichever is greater), the vehicle will return in VTOL flight without transitioning into forward flight. Otherwise, it will immediately transition to forward flight at its current altitude, proceed like an RTL and transition back to VTOL for landing, unless :ref:`Q_OPTIONS<Q_OPTIONS>` bit 16 is set.

.. raw:: html

<canvas id="QRTL_Altitude" style="width:100%;max-width:1200px"></canvas>

<p>
<label class="parameter_input_label" for="Q_RTL_ALT">Q_RTL_ALT</label>
<input id="Q_RTL_ALT" name="Q_RTL_ALT" type="number" step="1" value="15" min="0" onchange="update()"/>

<label class="parameter_input_label" for="Q_RTL_ALT_MIN">Q_RTL_ALT_MIN</label>
<input id="Q_RTL_ALT_MIN" name="Q_RTL_ALT_MIN" type="number" step="1" value="10.0" min="0" onchange="update()"/>

<label class="parameter_input_label" for="RTL_RADIUS">RTL_RADIUS</label>
<input id="RTL_RADIUS" name="RTL_RADIUS" type="number" step="1" value="0" onchange="update()"/>

<label class="parameter_input_label" for="WP_LOITER_RAD">WP_LOITER_RAD</label>
<input id="WP_LOITER_RAD" name="WP_LOITER_RAD" type="number" step="1" value="60" onchange="update()"/>

<label class="parameter_input_label" for="Q_LAND_FINAL">Q_LAND_FINAL</label>
<input id="Q_LAND_FINAL" name="Q_LAND_FINAL" type="number" step="0.5" value="6" min="0" onchange="update()"/>
</p>

<script src="https://cdn.jsdelivr.net/npm/chart.js"></script>

<script>
var chart
var vehicle_dist = null
var vehicle_alt = null
function update() {
var Q_RTL_ALT = parseFloat(document.getElementById("Q_RTL_ALT").value)
var Q_RTL_ALT_MIN = parseFloat(document.getElementById("Q_RTL_ALT_MIN").value)
var RTL_RADIUS = parseFloat(document.getElementById("RTL_RADIUS").value)
var WP_LOITER_RAD = parseFloat(document.getElementById("WP_LOITER_RAD").value)
var Q_LAND_FINAL = parseFloat(document.getElementById("Q_LAND_FINAL").value)
if ((Q_LAND_FINAL + 1) > Q_RTL_ALT) {
Q_RTL_ALT = Q_LAND_FINAL + 1
document.getElementById("Q_RTL_ALT").value = Q_RTL_ALT
}
if (Q_RTL_ALT_MIN < Q_LAND_FINAL) {
Q_RTL_ALT_MIN = Q_LAND_FINAL
document.getElementById("Q_RTL_ALT_MIN").value = Q_LAND_FINAL
} else if (Q_RTL_ALT_MIN > Q_RTL_ALT) {
Q_RTL_ALT_MIN = Q_RTL_ALT
document.getElementById("Q_RTL_ALT_MIN").value = Q_RTL_ALT
}
var radius = Math.max(Math.abs(RTL_RADIUS), Math.abs(WP_LOITER_RAD)) * 1.5
var min_alt_radius = (Q_RTL_ALT_MIN/Q_RTL_ALT) * radius;
var max_disp_rad = Math.ceil((radius * 1.2) / 10) * 10
var max_disp_alt = Math.ceil((Q_RTL_ALT+5.0) / 10) * 10
var alt = [{x:-5, y:Q_RTL_ALT_MIN},
{x:min_alt_radius, y:Q_RTL_ALT_MIN},
{x:radius, y:Q_RTL_ALT},
{x:max_disp_rad+5, y:Q_RTL_ALT}]
var land_final = [{x:-5, y:Q_LAND_FINAL},
{x:max_disp_rad+5, y:Q_LAND_FINAL}]
var threshold_alt = Math.max(Q_RTL_ALT * (vehicle_dist / Math.max(radius, vehicle_dist)), Q_RTL_ALT_MIN)
var return_path_VTOL = []
var return_path_FW = []
if ((vehicle_dist!= null) && (vehicle_alt != null)) {
if (vehicle_alt < threshold_alt) {
return_path_VTOL.push({x:vehicle_dist, y:vehicle_alt})
return_path_VTOL.push({x:vehicle_dist, y:threshold_alt})
if (vehicle_dist < radius) {
return_path_VTOL.push({x:0, y:threshold_alt})
} else {
return_path_VTOL.push({x:null, y:null})
return_path_VTOL.push({x:0, y:Q_RTL_ALT})
return_path_FW.push({x:vehicle_dist, y:threshold_alt})
return_path_FW.push({x:0, y:Q_RTL_ALT})
}
} else {
if (vehicle_dist < radius) {
return_path_VTOL.push({x:vehicle_dist, y:vehicle_alt})
return_path_VTOL.push({x:0, y:vehicle_alt})
} else {
return_path_VTOL.push({x:null, y:null})
return_path_VTOL.push({x:0, y:Q_RTL_ALT})
return_path_FW.push({x:vehicle_dist, y:vehicle_alt})
return_path_FW.push({x:0, y:Q_RTL_ALT})
}
}
return_path_VTOL.push({x:0, y:0})
}
if (chart == null) {
chart = new Chart("QRTL_Altitude", {
type : "scatter",
data: {
datasets: [
{
label: 'Return Path FW',
borderColor: "rgba(255,0,0,1)",
pointBackgroundColor: "rgba(255,0,0,1)",
data: return_path_FW,
fill: false,
showLine: true,
lineTension: 0,
},
{
label: 'Return Path VTOL',
color: "rgba(0,0,0,1)",
borderColor: "rgba(0,0,0,1)",
pointBackgroundColor: "rgba(0,0,0,1)",
data: return_path_VTOL,
fill: false,
showLine: true,
lineTension: 0,
spanGaps: false,
},
{
label: 'Return Altitude',
borderColor: "rgba(0,0,255,1.0)",
pointBackgroundColor: "rgba(0,0,255,1.0)",
data: alt,
fill: false,
showLine: true,
lineTension: 0,
},
{
label: 'Q_LAND_FINAL',
borderColor: "rgba(0,255,0,0.25)",
pointBackgroundColor: "rgba(0,255,0,0.25)",
data: land_final,
fill: false,
showLine: true,
lineTension: 0,
}
]
},
options: {
animation: { duration: 200 },
scales: {
y: {
title: { display: true, text: "Altitude (m)" },
min: 0.0,
max: max_disp_alt
},
x: {
title: { display: true, text: "Distance from home (m)" },
min: 0.0,
max: max_disp_rad
}
},
onClick: (e) => {
var canvasPosition = Chart.helpers.getRelativePosition(e, chart)
const {scales: {x, y}} = chart
vehicle_dist = x.getValueForPixel(canvasPosition.x)
vehicle_alt = y.getValueForPixel(canvasPosition.y)
update()
},
plugins: {
legend: {
labels: {
usePointStyle: true,
pointStyle: 'rectRounded',
pointStyleWidth: 50,
filter: function(legendItem, data) {
return data.datasets[legendItem.datasetIndex].data.length > 0
}
},
onClick: null
}
}
}
});
} else {
chart.data.datasets[0].data = return_path_FW
chart.data.datasets[1].data = return_path_VTOL
chart.data.datasets[2].data = alt
chart.data.datasets[3].data = land_final
chart.options.scales.x.max = max_disp_rad
chart.options.scales.y.max = max_disp_alt
chart.update()
}
}
update()
</script>

[/site]

Expand Down

0 comments on commit bf8c8f8

Please sign in to comment.