小航点计算飞行路径,计算4种情况，匀速。加速匀速减速，加速匀速，匀速减速
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@ -32,7 +32,8 @@ namespace Plane.Copters
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/// <param name="alt">相对于解锁点的高度。</param>
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/// <returns>表示此命令异步发送操作的 <see cref="Task"/> 实例。</returns>
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/// flytime =飞行时间 秒
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Task FlyToAsync(double lat, double lng, float alt,float flytime=0);
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/// flytype 0;匀速 1;加减速 2;单加速 3;单减速
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Task FlyToAsync(double lat, double lng, float alt,float flytime=0,int flytype = 0);
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/// <summary>
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/// 切换到 <see cref="CopterState.HoverMode"/> 并悬停。此操作需要使用 GPS 定位，卫星数不足导致定位不准时非常危险。
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@ -16,5 +16,11 @@ namespace Plane.Copters
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float RetainInt{ get; }
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//模拟飞行更新间隔
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int sim_update_int { get; set; }
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float maxspeed_xy { get; set; }
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float maxspeed_up { get; set; }
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float maxspeed_down { get; set; }
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float acc_z { get; set; }
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float acc_xy { get; set; }
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}
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}
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347
PlaneGcsSdk_Shared/CopterControllers/GuidController.cs
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347
PlaneGcsSdk_Shared/CopterControllers/GuidController.cs
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@ -0,0 +1,347 @@
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using System;
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using System.Collections.Generic;
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using System.Text;
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namespace Plane.CopterControllers
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{
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class GuidController
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{
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static float fabsf(float vvalue)
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{
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return Math.Abs(vvalue);
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}
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static float sqrt(float vvalue)
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{
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return (float)Math.Sqrt(vvalue);
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}
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/// <summary>
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/// 计算小航点飞行
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/// </summary>
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/// <param name="Distance"></param>
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/// <param name="fc_acc"></param>
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/// <param name="fc_maxspeed"></param>
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/// <returns></returns>
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//单算减速，不算加速的最小飞行时间
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static float getMinfligthtime_v2(float Distance, float fc_acc, float fc_maxspeed)
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{
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float fDis = fabsf(Distance); // 总距离
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float facc = fabsf(fc_acc); // 减速度
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// 物体开始时即以最大速度运动，不考虑加速过程
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float vel = fc_maxspeed;
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// 计算减速所需的时间和距离
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// 减速时间 (从最大速度减速到0)
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float dectime = vel / facc;
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// 减速阶段覆盖的距离
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float decdis = (vel * dectime) - (0.5f * facc * dectime * dectime);
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// 判断是否有足够的距离进行减速
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if (decdis >= fDis)
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{
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// 如果减速所需距离已经超过或等于总距离，调整最大速度
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// 使用公式 v^2 = u^2 + 2as 解出 v
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vel = (float)Math.Sqrt(2 * facc * fDis);
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// 重新计算减速时间
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dectime = vel / facc;
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}
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// 计算匀速阶段时间
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float unftime = 0.0f;
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if (decdis < fDis)
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{
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// 如果有剩余距离进行匀速运动
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unftime = (fDis - decdis) / vel;
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}
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// 总飞行时间 = 匀速阶段时间 + 减速阶段时间
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return unftime + dectime;
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}
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//单算减速，不算加速的最大飞行速度
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public static float CalculateMaximumVelocity(float distance, float time, float acceleration)
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{
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// 二次方程系数
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float a_coeff = 1;
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float b_coeff = -2 * time;
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float c_coeff = (2 * distance) / acceleration;
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// 计算判别式
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float discriminant = b_coeff * b_coeff - 4 * a_coeff * c_coeff;
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if (discriminant < 0)
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{
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return -1; // 无实数解
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}
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// 计算二次方程的根
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float t1_root1 = (-b_coeff + (float)Math.Sqrt(discriminant)) / (2 * a_coeff);
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float t1_root2 = (-b_coeff - (float)Math.Sqrt(discriminant)) / (2 * a_coeff);
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// 选择合理的根作为 t1
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float t1 = Math.Min(t1_root1, t1_root2);
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if (t1 < 0 || t1 > time)
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{
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return -1; // 无合理解
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}
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// 计算最大速度 v
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return acceleration * t1;
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}
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//单算加速，不算减速的距离速度计算
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static float getspeeddist_V2(float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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vdist = 0;
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vspeed = 0;
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float desV = CalculateMaximumVelocity(Distance, flight_time, fc_acc);
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if ((desV == -1) || (desV > fc_maxspeed)) //飞不到
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{
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vspeed = Distance / flight_time;
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vdist = vspeed * curr_time; //匀速距离
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return 0;
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}
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float dect = desV / fc_acc; // 总加速时间
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float unit = flight_time - dect; //匀速段时间
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float decD = (fc_acc * dect * dect) / 2; //总加速距离
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if (dect > flight_time) dect = flight_time;//约束时间
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if (curr_time > dect) //大于加速段时间--匀速
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{
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vspeed = (Distance - decD) / (flight_time - dect);
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vdist = vspeed * (curr_time - dect);
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vdist = vdist + decD; //总距离=匀速距离+减速距离
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if (vdist > Distance) vdist = Distance; //约束距离
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}
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else //加速段
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{
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vspeed = fc_acc * curr_time;
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vdist = (fc_acc * curr_time * curr_time) / 2; //加速距离
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}
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return 0;
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}
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//单算减速，不算加速的距离速度计算
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static float getspeeddist_V3(float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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vdist = 0;
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vspeed = 0;
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float desV = CalculateMaximumVelocity(Distance, flight_time, fc_acc);
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if ((desV == -1) || (desV > fc_maxspeed)) //飞不到
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{
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vspeed = Distance / flight_time;
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vdist = vspeed * curr_time; //匀速距离
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return 0;
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}
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float dect = desV / fc_acc; // 总减速时间
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float unit = flight_time - dect; //匀速段时间
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float decD = desV * dect - (fc_acc * dect * dect) / 2; //总减速距离
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if (dect > flight_time) dect = flight_time;//约束时间
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//匀速时间内
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if (curr_time < unit)
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{
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vspeed = (Distance - decD) / (flight_time - dect);
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vdist = vspeed * curr_time;
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}
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else
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{
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if (((flight_time - dect) * unit) == 0)
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vdist = 0;
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else
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vdist = (Distance - decD) / (flight_time - dect) * unit; //匀速距离
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float currdect = curr_time - unit; //减速时间
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if (currdect >= 0)
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{
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vspeed = desV - fc_acc * currdect;
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decD = desV * currdect - (fc_acc * currdect * currdect) / 2; //减速距离
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}
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vdist = vdist + decD; //总距离=匀速距离+减速距离
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if (vdist > Distance) vdist = Distance; //约束距离
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}
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return 0;
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}
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static float getMinfligthtime(float Distance, float fc_acc, float fc_maxspeed)
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{
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float fDis = fabsf(Distance);
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float facc = fabsf(fc_acc);
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float realflytime = 0.0f;
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//计算一半的距离
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float hafdis = (fDis / 2);
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//计算最大速度
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float vel = (float)sqrt(2 * facc * hafdis);
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//如果速度超过最大速度
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if (vel > fc_maxspeed)
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//使用最大速度
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vel = fc_maxspeed;
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//加速时间
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float acctim = vel / facc;
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//加速距离
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float accdis = vel * vel / (2 * facc);
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//匀速段时间
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float vtime = (hafdis - accdis) / vel;
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//到一半的时间
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float haftime = acctim + vtime;
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realflytime = haftime * 2;
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return realflytime;
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}
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///计算飞行距离和速度 单位--米，秒----
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//返回 整个距离最大飞行速度
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///flight_time 总飞行时间 Distance 飞行总距离 curr_time 当前飞行时间 fc_acc加速度, fc_maxspeed最大速度 vdist 计算的应该飞的距离 vspeed 计算的当前时间应该速度
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//========这是飞控正在使用的算法========
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static float getspeeddist_V1(float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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//计划飞行时间
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float plan_flytime = flight_time;
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//计算距离用绝对值
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float fDis = fabsf(Distance);
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if (curr_time < 0)
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{
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vdist = 0;
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vspeed = 0;
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return 0.0f;
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}
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//导航加速度 米/秒*秒 ---不使用导航库
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float wpacc = fabsf(fc_acc);// g.fc_acc_xy;//1.5;
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//最大目标速度---米/秒
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float desired_velocity = 0;
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float dist = 0;
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//
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float speed = 0;
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//计算最小飞行时间
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float minflytime = getMinfligthtime(Distance, fc_acc, fc_maxspeed);
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if (flight_time < minflytime)
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plan_flytime = minflytime;// + 0.1f;
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//根据总飞行时间和总距离计算飞行速度----起始和结束速度都是0，中间按匀加速和匀减速计算，没考虑加加速度
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float delta = (0.5f * plan_flytime) * (0.5f * plan_flytime) - fDis / wpacc;
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if (delta >= 0)
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{
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desired_velocity = (0.5f * plan_flytime - sqrt(delta)) / (1 / wpacc);
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if (desired_velocity > fc_maxspeed)
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{
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plan_flytime = minflytime;
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desired_velocity = fc_maxspeed;
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}
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}
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else
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{
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desired_velocity = (0.5f * plan_flytime) / (1 / wpacc);
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}
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if (desired_velocity < 0.2f) desired_velocity = 0.2f; //限制最小速度0.2米/秒
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if (desired_velocity > fc_maxspeed) desired_velocity = fc_maxspeed;//限制最大速度10米/秒，应该参数化
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//计算实时速度
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if (curr_time <= (plan_flytime / 2.0))
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speed = curr_time * wpacc;
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else
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//需要减速
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speed = (plan_flytime - curr_time) * wpacc;
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//不能大于目标速度
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if (speed > desired_velocity)
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speed = desired_velocity;
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if (speed <= 0)
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speed = 0;
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vspeed = speed;
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//计算实时距离
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float V_start = 0.0f;
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float V_end = 0.0f;
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//加速段
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float t1 = (desired_velocity - V_start) / wpacc;
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//减速段
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float t3 = (desired_velocity - V_end) / wpacc;
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//平飞段
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float t2 = plan_flytime - t1 - t3;
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if (curr_time < t1)
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{
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dist = 0.5f * wpacc * curr_time * curr_time + curr_time * V_start;
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}
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else if (curr_time < t1 + t2)
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{
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dist = -0.5f * wpacc * t1 * t1 + (curr_time) * desired_velocity;
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}
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else
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{
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float t = curr_time - t1 - t2;
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dist = -0.5f * wpacc * t1 * t1 + curr_time * desired_velocity - 0.5f * wpacc * t * t;
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}
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if (fabsf(dist) > fabsf(Distance))
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vdist = Distance;
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else
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{
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if (Distance < 0)
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vdist = -dist;
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else vdist = dist;
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}
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return desired_velocity;
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}
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public static float getspeeddist(int flytype, float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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switch (flytype)
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{
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case 0: //匀速
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//case 1: //匀速
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vspeed = Distance / flight_time;
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vdist = vspeed * curr_time;
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return 0;
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case 1: //同时计算加减速
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return getspeeddist_V1(flight_time, Distance, curr_time, fc_acc, fc_maxspeed, out vdist, out vspeed);
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case 2: //单加速
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return getspeeddist_V2(flight_time, Distance, curr_time, fc_acc, fc_maxspeed, out vdist, out vspeed);
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case 3: //单减速
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return getspeeddist_V3(flight_time, Distance, curr_time, fc_acc, fc_maxspeed, out vdist, out vspeed);
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default:
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vspeed = 0;
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vdist = 0;
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return 0;
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}
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}
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}
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}
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@ -104,7 +104,7 @@ namespace Plane.CopterManagement
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return Copter.FlyToAsync(lat, lng);
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}
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public Task FlyToAsync(double lat, double lng, float alt, float flytime = 0)
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public Task FlyToAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0)
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{
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return Copter.FlyToAsync(lat, lng, alt);
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}
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@ -180,6 +180,12 @@ namespace Plane.Copters
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private bool _DisplayID = true;
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private float _maxspeed_xy=3;
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private float _maxspeed_down=3;
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private float _maxspeed_up = 3;
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private float _acc_z=1f;
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private float _acc_xy=2.5f;
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#endregion Backing Fields
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public CopterImplSharedPart(SynchronizationContext uiSyncContext) : base(uiSyncContext)
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@ -683,6 +689,48 @@ namespace Plane.Copters
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}
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public float maxspeed_xy {
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get { return _maxspeed_xy; }
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set
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{
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Set(nameof(maxspeed_xy), ref _maxspeed_xy, value);
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}
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}
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public float maxspeed_up
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{
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get { return _maxspeed_up; }
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set
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{
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Set(nameof(maxspeed_up), ref _maxspeed_up, value);
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}
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}
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public float maxspeed_down
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{
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get { return _maxspeed_down; }
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set
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{
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Set(nameof(maxspeed_down), ref _maxspeed_down, value);
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}
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}
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public float acc_z
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{
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get { return _acc_z; }
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set
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{
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Set(nameof(acc_z), ref _acc_z, value);
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}
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}
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public float acc_xy
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{
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get { return _acc_xy; }
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set
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{
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Set(nameof(acc_xy), ref _acc_xy, value);
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}
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}
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public byte[] Retain
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{
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@ -865,11 +913,11 @@ namespace Plane.Copters
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return FlyToAsync(lat, lng, Altitude);
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}
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||||
|
||||
public Task FlyToAsync(double lat, double lng, float alt, float flytime = 0)
|
||||
public Task FlyToAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0)
|
||||
{
|
||||
_shouldFollow = false;
|
||||
//State = CopterState.CommandMode;
|
||||
return FlyToCoreAsync(lat, lng, alt, flytime);
|
||||
return FlyToCoreAsync(lat, lng, alt, flytime, flytype);
|
||||
}
|
||||
|
||||
public void Follow(IVisibleStatus target, bool keepYawDifference = false, bool keepFacingTarget = true, bool keep3DRelativeLocations = false)
|
||||
@ -1125,7 +1173,7 @@ namespace Plane.Copters
|
||||
/// <param name="lng">经度。</param>
|
||||
/// <param name="alt">高度。</param>
|
||||
/// <returns>表示此异步发送操作的 <see cref="Task{TResult}"/> 实例。</returns>
|
||||
protected abstract Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0);
|
||||
protected abstract Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0);
|
||||
|
||||
protected void RaiseAltitudeChanged() => AltitudeChanged?.Invoke(this, EventArgs.Empty);
|
||||
|
||||
|
||||
@ -144,7 +144,7 @@ namespace Plane.Copters
|
||||
return Task.FromResult(true);
|
||||
}
|
||||
|
||||
protected override Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0)
|
||||
protected override Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0)
|
||||
{
|
||||
return TaskUtils.CompletedTask;
|
||||
}
|
||||
|
||||
@ -7,6 +7,8 @@ using System.Threading;
|
||||
using System.Threading.Tasks;
|
||||
using static Plane.Copters.Constants;
|
||||
using System.Windows.Media;
|
||||
using Plane.CopterControllers;
|
||||
|
||||
namespace Plane.Copters
|
||||
{
|
||||
/// <summary>
|
||||
@ -89,8 +91,9 @@ namespace Plane.Copters
|
||||
|
||||
private float _distance_xy;
|
||||
private float _distance_z;
|
||||
private float _distance_xy_delta;
|
||||
private float _distance_z_delta;
|
||||
private float _xy_speed;
|
||||
private float _z_speed;
|
||||
private int _flytype;
|
||||
private float currflytime;
|
||||
// 根据飞行时间计算飞行距离。
|
||||
private float currdis_xy;
|
||||
@ -274,7 +277,7 @@ namespace Plane.Copters
|
||||
return TaskUtils.CompletedTask;
|
||||
}
|
||||
|
||||
protected override Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0)
|
||||
protected override Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0)
|
||||
{
|
||||
if (!IsEmergencyHoverActive)
|
||||
{
|
||||
@ -298,10 +301,9 @@ namespace Plane.Copters
|
||||
_distance_z = alt - Altitude;
|
||||
Console.WriteLine($"{this.Id}d:{_distance_xy},lat{this.Latitude},lng{this.Longitude },tlat:{lat}tlng:{lng}");
|
||||
|
||||
_distance_xy_delta = _distance_xy / _flytime;
|
||||
_distance_z_delta = _distance_z / _flytime;
|
||||
|
||||
|
||||
_flytype = flytype;
|
||||
// _xy_speed = _distance_xy / _flytime;
|
||||
// _z_speed = _distance_z / _flytime;
|
||||
Mode = FlightMode.GUIDED;
|
||||
|
||||
|
||||
@ -674,6 +676,7 @@ namespace Plane.Copters
|
||||
break;
|
||||
|
||||
case FlightMode.AUTO:
|
||||
/*
|
||||
// 暂时只管起飞。以最大速度上升，直到达到目标高度。
|
||||
if (Altitude < _takeOffTargetAltitude)
|
||||
{
|
||||
@ -683,6 +686,7 @@ namespace Plane.Copters
|
||||
{
|
||||
Mode = FlightMode.LOITER;
|
||||
}
|
||||
*/
|
||||
break;
|
||||
|
||||
case FlightMode.GUIDED:
|
||||
@ -888,8 +892,18 @@ namespace Plane.Copters
|
||||
//if (currflytime > 13000)
|
||||
// return;
|
||||
// 根据飞行时间计算飞行距离
|
||||
currdis_xy = _distance_xy_delta * currflytime;
|
||||
currdis_z = _distance_z_delta * currflytime;
|
||||
|
||||
float vspeed = 0;
|
||||
|
||||
GuidController.getspeeddist(_flytype, _flytime / 1000, _distance_xy, currflytime / 1000, acc_xy,maxspeed_xy , out currdis_xy, out vspeed);
|
||||
|
||||
if (alt> Altitude)
|
||||
GuidController.getspeeddist(_flytype, _flytime / 1000, _distance_z, currflytime / 1000, acc_z,maxspeed_up, out currdis_z, out vspeed);
|
||||
else
|
||||
GuidController.getspeeddist(_flytype, _flytime / 1000, _distance_z, currflytime / 1000, acc_z,maxspeed_down, out currdis_z, out vspeed);
|
||||
|
||||
Console.WriteLine($"{this.Id}：time:{currflytime / 1000} to {currdis_z}");
|
||||
|
||||
// 距离已经很近，直接移动到目标点。
|
||||
if ((Math.Abs(_distance_xy-currdis_xy) < 0.1)&& (Math.Abs(_distance_z - currdis_z) < 0.1))
|
||||
{
|
||||
|
||||
@ -418,7 +418,7 @@ namespace Plane.Copters
|
||||
return !anotherSetModeActionCalled && Mode == mode;
|
||||
}
|
||||
|
||||
protected override async Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0)
|
||||
protected override async Task FlyToCoreAsync(double lat, double lng, float alt, float flytime = 0, int flytype = 0)
|
||||
{
|
||||
if (!IsEmergencyHoverActive)
|
||||
{
|
||||
|
||||
@ -34,6 +34,7 @@
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterControllers\CopterControllerBase.cs" />
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterControllers\CopterControllerManager.cs" />
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterControllers\FlyToController.cs" />
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterControllers\GuidController.cs" />
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterControllers\KeyboardController.cs" />
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterManagement\CopterFactory.cs" />
|
||||
<Compile Include="$(MSBuildThisFileDirectory)CopterManagement\SingleCopterManager.cs" />
|
||||
|
||||
Loading…
Reference in New Issue
Block a user