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[navigation] disable takeoff if initial xy pos error is larger than threshold #660

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[navigation] disable takeoff if initial xy pos error is larger than threshold #660

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eefcc96
[navigation] show target height and xy position when arming
sugikazu75 Jan 17, 2025
17f2e23
[navigation] disable takeoff is initial xy pos error is larger than t…
sugikazu75 Jan 17, 2025
aafb974
[navigation] use euclidean distance to check initial position error
sugikazu75 Jan 19, 2025
e867fdc
[navgation] fix definition of position error for initial check. use t…
sugikazu75 Jan 19, 2025
f4e551b
[navigation] check the difference in height between arming and takeof…
sugikazu75 Jan 20, 2025
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13 changes: 12 additions & 1 deletion aerial_robot_control/include/aerial_robot_control/flight_navigation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -270,6 +270,7 @@ namespace aerial_robot_navigation
bool lock_teleop_;
ros::Time force_landing_start_time_;

double takeoff_xy_pos_tolerance_;
double hover_convergent_start_time_;
double hover_convergent_duration_;
double land_check_start_time_;
Expand Down Expand Up @@ -365,6 +366,15 @@ namespace aerial_robot_navigation
{
if(getNaviState() == TAKEOFF_STATE) return;

double pos_x_error = getTargetPos().x() - estimator_->getPos(Frame::COG, estimate_mode_).x();
double pos_y_error = getTargetPos().y() - estimator_->getPos(Frame::COG, estimate_mode_).y();
double pos_xy_error_dist = std::sqrt(pos_x_error * pos_x_error + pos_y_error * pos_y_error);
if(pos_xy_error_dist > takeoff_xy_pos_tolerance_)
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{
ROS_ERROR_STREAM("initial xy error distance: " << pos_xy_error_dist << " is larger than threshold " << takeoff_xy_pos_tolerance_ << ". switch back to ARM_OFF_STATE");
setNaviState(STOP_STATE);
}

if(getNaviState() == ARM_ON_STATE)
{
setNaviState(TAKEOFF_STATE);
Expand Down Expand Up @@ -407,7 +417,8 @@ namespace aerial_robot_navigation
setInitHeight(estimator_->getPos(Frame::COG, estimate_mode_).z());
setTargetYawFromCurrentState();

ROS_INFO_STREAM("init height for takeoff: " << init_height_);
ROS_INFO_STREAM("init height for takeoff: " << init_height_ << ", target height: " << getTargetPos().z());
ROS_INFO_STREAM("target xy pos: " << "[" << getTargetPos().x() << ", " << getTargetPos().y() << "]");

ROS_INFO("Start state");
}
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1 change: 1 addition & 0 deletions aerial_robot_control/src/flight_navigation.cpp
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Expand Up @@ -1065,6 +1065,7 @@ void BaseNavigator::rosParamInit()
land_descend_vel_ == -0.3;
}

getParam<double>(nh, "takeoff_xy_pos_tolerance", takeoff_xy_pos_tolerance_, 0.3);
getParam<double>(nh, "hover_convergent_duration", hover_convergent_duration_, 1.0);
getParam<double>(nh, "land_check_duration", land_check_duration_, 0.5);
if (land_check_duration_ < 0.5) {
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