def altitudeCompensation(self, heightAGL, numMaxPoints=100, threshold=5):
'''Creates height points (ASL) for each point in searchArea,
entry and exit points such that the plane stays a constant altitude above the ground,
constrained by a max number of waypoints'''
maxDeltaAlt = 0
maxDeltaAltPoints = []
maxDeltapercentAlong = 0
EleModel = mp_elevation.ElevationModel()
#make sure the SRTM tiles are downloaded
EleModel.GetElevation(self.SearchPattern[0][0], self.SearchPattern[0][1])
#get the ASL height of the airfield home, entry and exit points and initial search pattern
# and add the heightAGL to them
self.airportHeight = EleModel.GetElevation(self.airfieldHome[0], self.airfieldHome[1])
self.airfieldHome = (self.airfieldHome[0], self.airfieldHome[1], heightAGL+EleModel.GetElevation(self.airfieldHome[0], self.airfieldHome[1]))
for point in self.entryPoints:
self.entryPoints[self.entryPoints.index(point)] = (point[0], point[1], heightAGL+EleModel.GetElevation(point[0], point[1]))
for point in self.exitPoints:
self.exitPoints[self.exitPoints.index(point)] = (point[0], point[1], heightAGL+EleModel.GetElevation(point[0], point[1]))
for point in self.SearchPattern:
self.SearchPattern[self.SearchPattern.index(point)] = (point[0], point[1], heightAGL+EleModel.GetElevation(point[0], point[1]))
#keep looping through the search area waypoints and add new waypoints where needed
#to maintain const height above terrain
print "---Starting terrain tracking optimisation---"
while True:
maxDeltaAlt = 0
maxDeltaAltPoints = []
maxDeltaPointIndex = 0
for point in self.SearchPattern:
if point != self.SearchPattern[-1]:
dist = cuav_util.gps_distance(point[0], point[1], self.SearchPattern[self.SearchPattern.index(point)+1][0], self.SearchPattern[self.SearchPattern.index(point)+1][1])
theta = cuav_util.gps_bearing(point[0], point[1], self.SearchPattern[self.SearchPattern.index(point)+1][0], self.SearchPattern[self.SearchPattern.index(point)+1][1])
AltDiff = float(self.SearchPattern[self.SearchPattern.index(point)+1][2] - point[2])
if numpy.around(theta) == numpy.around(self.searchBearing) or numpy.around(theta) == numpy.around((self.searchBearing+180) % 360):
#increment 10% along waypoint-to-waypoint and get max height difference
for i in range(1, 9):
partPoint = cuav_util.gps_newpos(point[0], point[1], theta, (i*dist/10))
partAlt = EleModel.GetElevation(partPoint[0], partPoint[1]) + heightAGL
#print "Part = " + str(partAlt) + ", Orig = " + str(point[2])
if numpy.abs(point[2] + ((AltDiff*i)/10) - partAlt) > maxDeltaAlt:
maxDeltaAlt = numpy.abs(point[2] + ((AltDiff*i)/10) - partAlt)
maxDeltaAltPoint = (partPoint[0], partPoint[1], partAlt)
maxDeltaPointIndex = self.SearchPattern.index(point)+1
#print "New max alt diff: " + str(maxDeltaAlt) + ", " + str(partAlt)
#now put a extra waypoint in between the two maxDeltaAltPoints
if maxDeltaAltPoint is not None:
self.SearchPattern.insert(maxDeltaPointIndex, maxDeltaAltPoint)
#print "There are " + str(len(self.SearchPattern)) + " points in the search pattern. Max Alt error is " + str(maxDeltaAlt)
if len(self.SearchPattern) >= numMaxPoints or threshold > maxDeltaAlt:
break
print "---Done terrain tracking optimisation---"
def position(self, t, max_deltat=0, roll=None, maxroll=45):
"""return a MavPosition estimate given a time"""
self.advance_log(t)
scaled_pressure = self._find_msg("SCALED_PRESSURE", t)
# extrapolate our latitude/longitude
gpst = t + self.gps_lag
if mavutil.mavlink10():
gps_raw = self._find_msg("GPS_RAW_INT", gpst)
gps_timestamp = self.gps_time(gps_raw)
# print gps_raw._timestamp, gps_timestamp, gpst, t, gpst - gps_timestamp
(lat, lon) = cuav_util.gps_newpos(
gps_raw.lat / 1.0e7,
gps_raw.lon / 1.0e7,
gps_raw.cog * 0.01,
(gps_raw.vel * 0.01) * (gpst - gps_timestamp),
)
else:
gps_raw = self._find_msg("GPS_RAW", gpst)
gps_timestamp = self.gps_time(gps_raw)
(lat, lon) = cuav_util.gps_newpos(gps_raw.lat, gps_raw.lon, gps_raw.hdg, gps_raw.v * (gpst - gps_timestamp))
# get altitude
altitude = self._altitude(scaled_pressure)
# and attitude
mavroll = math.degrees(self.interpolate_angle("ATTITUDE", "roll", t, max_deltat))
if roll is None:
roll = mavroll
elif abs(mavroll) < maxroll:
roll = 0
elif mavroll >= maxroll:
roll = mavroll - maxroll
else:
roll = mavroll + maxroll
pitch = math.degrees(self.interpolate_angle("ATTITUDE", "pitch", t, max_deltat))
yaw = math.degrees(self.interpolate_angle("ATTITUDE", "yaw", t, max_deltat))
return MavPosition(lat, lon, altitude, roll, pitch, yaw, t)
def CreateSearchPattern(self, width=50.0, overlap=10.0, offset=10, wobble=10, alt=100):
'''Generate the waypoints for the search pattern, using alternating strips
width is the width (m) of each strip, overlap is the % overlap between strips,
alt is the altitude (relative to ground) of the points'''
self.SearchPattern = []
#find the nearest point to Airfield Home - use this as a starting point (if entry lanes are not used)
if len(self.entryPoints) == 0:
nearestdist = cuav_util.gps_distance(self.airfieldHome[0], self.airfieldHome[1], self.searchArea[0][0], self.searchArea[0][1])
nearest = self.searchArea[0]
for point in self.searchArea:
newdist = cuav_util.gps_distance(self.airfieldHome[0], self.airfieldHome[1], point[0], point[1])
if newdist < nearestdist:
nearest = point
nearestdist = newdist
else:
nearestdist = cuav_util.gps_distance(self.entryPoints[0][0], self.entryPoints[0][1], self.searchArea[0][0], self.searchArea[0][1])
nearest = self.searchArea[0]
for point in self.searchArea:
newdist = cuav_util.gps_distance(self.entryPoints[0][0], self.entryPoints[0][1], point[0], point[1])
#print "dist = " + str(newdist)
if newdist < nearestdist:
nearest = point
nearestdist = newdist
#print "Start = " + str(nearest) + ", dist = " + str(nearestdist)
#the search pattern will run between the longest side from nearest
bearing1 = cuav_util.gps_bearing(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)-1][0], self.searchArea[self.searchArea.index(nearest)-1][1])
bearing2 = cuav_util.gps_bearing(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)+1][0], self.searchArea[self.searchArea.index(nearest)+1][1])
dist1 = cuav_util.gps_distance(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)-1][0], self.searchArea[self.searchArea.index(nearest)-1][1])
dist2 = cuav_util.gps_distance(nearest[0], nearest[1], self.searchArea[self.searchArea.index(nearest)+1][0], self.searchArea[self.searchArea.index(nearest)+1][1])
if dist1 > dist2:
self.searchBearing = bearing1
else:
self.searchBearing = bearing2
#the search pattern will then run parallel between the two furthest points in the list
#searchLine = (0, 0)
#for point in self.searchArea:
# newdist = cuav_util.gps_distance(point[0], point[1], self.searchArea[self.searchArea.index(point)-1][0], self.searchArea[self.searchArea.index(point)-1][1])
# if newdist > searchLine[0]:
# searchLine = (newdist, cuav_util.gps_bearing(point[0], point[1], self.searchArea[self.searchArea.index(point)-1][0], self.searchArea[self.searchArea.index(point)-1][1]))
#self.searchBearing = searchLine[1]
#need to find the 90 degree bearing to searchBearing that is inside the search area. This
#will be the bearing we increment the search rows by
#need to get the right signs for the bearings, depending which quadrant the search area is in wrt nearest
if not cuav_util.polygon_outside(cuav_util.gps_newpos(nearest[0], nearest[1], (self.searchBearing + 45) % 360, 10), self.searchArea):
self.crossBearing = (self.searchBearing + 90) % 360
elif not cuav_util.polygon_outside(cuav_util.gps_newpos(nearest[0], nearest[1], (self.searchBearing + 135) % 360, 10), self.searchArea):
self.crossBearing = (self.searchBearing + 90) % 360
self.searchBearing = (self.searchBearing + 180) % 360
elif not cuav_util.polygon_outside(cuav_util.gps_newpos(nearest[0], nearest[1], (self.searchBearing - 45) % 360, 10), self.searchArea):
self.crossBearing = (self.searchBearing - 90) % 360
else:
self.crossBearing = (self.searchBearing - 90) % 360
self.searchBearing = (self.searchBearing - 180) % 360
print "Search bearing is " + str(self.searchBearing) + "/" + str((self.searchBearing + 180) % 360)
print "Cross bearing is: " + str(self.crossBearing)
#the distance between runs is this:
self.deltaRowDist = width - width*(float(overlap)/100)
if self.deltaRowDist <= 0:
print "Error, overlap % is too high"
return
print "Delta row = " + str(self.deltaRowDist)
#expand the search area to 1/2 deltaRowDist to ensure full coverage
#we are starting at the "nearest" and mowing the lawn parallel to "self.searchBearing"
#first waypoint is right near the Search Area boundary (without being on it) (10% of deltaRowDist
#on an opposite bearing (so behind the search area)
nextWaypoint = cuav_util.gps_newpos(nearest[0], nearest[1], self.crossBearing, self.deltaRowDist/10)
print "First = " + str(nextWaypoint)
#self.SearchPattern.append(firstWaypoint)
#mow the lawn, every 2nd row:
while True:
pts = self.projectBearing(self.searchBearing, nextWaypoint, self.searchArea)
#print "Projecting " + str(nextWaypoint) + " along " + str(self.searchBearing)
#check if we're outside the search area
if pts == 0:
break
(nextW, nextnextW) = (pts[0], pts[1])
if cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextW[0], nextW[1]) < cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextnextW[0], nextnextW[1]):
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], (self.searchBearing + 180) % 360, (offset+wobble)))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.searchBearing, (offset+wobble)))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
else:
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], (self.searchBearing + 180) % 360, offset+wobble))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], self.searchBearing, (offset+wobble)))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextW[0], nextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
print "Next = " + str(nextWaypoint)
#go back and do the rows we missed. There still might be one more row to do in
# the crossbearing direction, so check for that first
nextWaypoint = cuav_util.gps_newpos(nextWaypoint[0], nextWaypoint[1], self.crossBearing, -self.deltaRowDist)
pts = self.projectBearing(self.searchBearing, nextWaypoint, self.searchArea)
if pts == 0:
nextWaypoint = cuav_util.gps_newpos(nextWaypoint[0], nextWaypoint[1], self.crossBearing, -2*self.deltaRowDist)
self.crossBearing = (self.crossBearing + 180) % 360
else:
self.crossBearing = (self.crossBearing + 180) % 360
while True:
pts = self.projectBearing(self.searchBearing, nextWaypoint, self.searchArea)
#print "Projecting " + str(nextWaypoint) + " along " + str(self.searchBearing)
#check if we're outside the search area
if pts == 0:
break
(nextW, nextnextW) = (pts[0], pts[1])
if cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextW[0], nextW[1]) < cuav_util.gps_distance(nextWaypoint[0], nextWaypoint[1], nextnextW[0], nextnextW[1]):
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], (self.searchBearing + 180) % 360, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.searchBearing, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextnextW[0], nextnextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
else:
self.SearchPattern.append(cuav_util.gps_newpos(nextnextW[0], nextnextW[1], (self.searchBearing + 180) % 360, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
self.SearchPattern.append(cuav_util.gps_newpos(nextW[0], nextW[1], self.searchBearing, offset))
self.SearchPattern[-1] =(self.SearchPattern[-1][0], self.SearchPattern[-1][1], alt)
#now turn 90degrees from bearing and width distance
nextWaypoint = cuav_util.gps_newpos(nextW[0], nextW[1], self.crossBearing, self.deltaRowDist*2)
self.searchBearing = (self.searchBearing + 180) % 360
print "Next(alt) = " + str(nextWaypoint)
#add in the altitude points (relative to airfield home)
for point in self.SearchPattern:
self.SearchPattern[self.SearchPattern.index(point)] = (point[0], point[1], alt)
