2026.6.3更新
This commit is contained in:
@@ -4,142 +4,183 @@ from enum import Enum
|
||||
|
||||
|
||||
class MissionState(Enum):
|
||||
INIT = 0 # 初始化/等待连接
|
||||
ARMING = 1 # 解锁中
|
||||
TAKEOFF = 2 # 自动起飞中
|
||||
INIT = 0 # 初始化/流式发送指令准备中
|
||||
ARMING = 1 # 模式切换与解锁中
|
||||
TAKEOFF = 2 # 自动起飞中（虚拟航点导航起飞）
|
||||
NAVIGATING = 3 # 航点巡航导航
|
||||
HOLD_TASK = 4 # 到达航点后的原地任务悬停
|
||||
RETURNING = 5 # 返航或直接准备降落
|
||||
HOLD_TASK = 4 # 到达航点后的原地任务悬停检测
|
||||
RETURNING = 5 # 任务完成，准备切换降落
|
||||
LANDING = 6 # 自动降落中
|
||||
FINISHED = 7 # 任务结束/已上锁
|
||||
FINISHED = 7 # 任务结束/已上锁退出
|
||||
|
||||
|
||||
class FailsafeTriggered(Exception):
|
||||
"""自定义安全异常：当安全员人工介入切出自控模式时抛出，用于暴力熔断主循环"""
|
||||
pass
|
||||
|
||||
|
||||
class MissionManager:
|
||||
def __init__(self, drone, waypoints, target_altitude=1.5, arrival_radius=0.3, hold_duration=5.0):
|
||||
def __init__(self, drone, waypoints, target_altitude=1.5, arrival_radius=0.3, hold_duration=5.0, return_home=True):
|
||||
"""
|
||||
专为 PX4 固件优化的自动巡点状态机管理器
|
||||
:param drone: 实例化的 DroneController 底层驱动对象
|
||||
:param waypoints: 航点列表，格式为 [{'x': 1.0, 'y': 2.0, 'z': -1.5, 'yaw': 0}, ...]
|
||||
注意：NED 坐标系中，Z轴向上为负，所以起飞或目标高度应为负值
|
||||
注意：NED 坐标系中，Z轴向下为负，所以起飞或目标高度输入正数，内部会自动转为NED负值
|
||||
:param target_altitude: 初始起飞高度（米，正数，内部会自动转为NED负值）
|
||||
:param arrival_radius: 判定航点到达的三维欧氏距离阈值（米）
|
||||
:param hold_duration: 在每个航点到达后，执行任务（或悬停）的停留时间（秒）
|
||||
:param hold_duration: 在每个航点到达后，原地执行悬停/任务的停留时间（秒）
|
||||
"""
|
||||
self.drone = drone
|
||||
self.waypoints = waypoints
|
||||
self.target_altitude = -abs(target_altitude) # 强制转为 NED 坐标系的负高度
|
||||
self.arrival_radius = arrival_radius
|
||||
self.hold_duration = hold_duration
|
||||
self.return_home = return_home
|
||||
|
||||
self.state = MissionState.INIT
|
||||
self.current_wp_index = 0
|
||||
self.hold_start_time = None
|
||||
|
||||
# 链路活性流式计数器：确保以固定频率下发心跳期望（防PX4失控刹车）
|
||||
self.last_send_time = 0.0
|
||||
self.send_interval = 0.2 # 0.2秒对应 5Hz 下发频率
|
||||
|
||||
def calculate_distance(self, target_x, target_y, target_z):
|
||||
"""计算无人机当前局部位置与目标点之间的三维欧氏距离"""
|
||||
dx = target_x - self.drone.local_x
|
||||
dy = target_y - self.drone.local_y
|
||||
dz = target_z - self.drone.local_z
|
||||
"""计算无人机当前局部局部位置（来自飞控 LOCAL_POSITION_NED 遥测）与目标的欧氏距离"""
|
||||
curr_x, curr_y, curr_z = self.drone.local_position
|
||||
dx = target_x - curr_x
|
||||
dy = target_y - curr_y
|
||||
dz = target_z - curr_z
|
||||
return math.sqrt(dx ** 2 + dy ** 2 + dz ** 2)
|
||||
|
||||
def _stream_target_position(self, x, y, z, yaw):
|
||||
"""维持 PX4 OFFBOARD 模式所需的流式位置期望下发（限制 5Hz 频率）"""
|
||||
now = time.time()
|
||||
if now - self.last_send_time >= self.send_interval:
|
||||
# 假设你的底层 base_control.py 中有 send_target_position 接口
|
||||
self.drone.send_target_position(x, y, z, yaw)
|
||||
self.last_send_time = now
|
||||
|
||||
def update(self):
|
||||
"""
|
||||
核心状态机轮询函数。
|
||||
高层主循环高频调用此函数，根据当前状态驱动飞行任务。
|
||||
高层主循环（如主循环 10Hz）必须不间断调用此函数驱动飞行任务。
|
||||
一旦检测到人肉介入，直接抛出 FailsafeTriggered 异常终止运行。
|
||||
"""
|
||||
# 安全人肉兜底：如果安全员从遥控器切出 GUIDED 模式，状态机挂起，不执行任何行为
|
||||
if self.state not in [MissionState.INIT, MissionState.ARMING]:
|
||||
if self.drone.current_mode not in ['GUIDED', 'OFFBOARD']:
|
||||
print(f"\r\n⚠️ [警告] 安全员切出控制模式！当前模式为: {self.drone.current_mode}, 任务管理程序挂起...", end="")
|
||||
return False
|
||||
# ==================== 1. 安全人肉熔断机制 ====================
|
||||
if self.state not in [MissionState.INIT, MissionState.ARMING, MissionState.FINISHED]:
|
||||
if self.drone.current_mode != 'OFFBOARD':
|
||||
print(f"\n🚨 [熔断保护] 检测到飞控退出自控模式！当前模式为: {self.drone.current_mode}")
|
||||
print("🚨 任务管理器瞬间拉断，上位机停止发送所有控制流，完全交由安全员接管！")
|
||||
raise FailsafeTriggered("安全员强行越权接管，自控流程熔断")
|
||||
|
||||
# ----------------- 状态机逻辑 -----------------
|
||||
# ==================== 2. 状态机业务分支 ====================
|
||||
|
||||
# --- STATE: INIT ---
|
||||
if self.state == MissionState.INIT:
|
||||
if self.drone.is_connected:
|
||||
print("\n[状态] 飞控通信已建立，准备切换至 OFFBOARD 模式并解锁...")
|
||||
if self.drone.set_mode('OFFBOARD'): #若为 PX4 则是OFFBOARD; ArduPilot 则为 GUIDED
|
||||
self.state = MissionState.ARMING
|
||||
else:
|
||||
print("\r[状态] 等待飞控心跳包连接...", end="", flush=True)
|
||||
# PX4 要求：在切入 OFFBOARD 模式之前，上位机必须已经开始流式下发位置/速度期望包，
|
||||
# 否则飞控会拒绝切换模式。此处我们在原位流式灌入当前局部坐标作为活性维持。
|
||||
cx, cy, cz = self.drone.local_position
|
||||
self._stream_target_position(cx, cy, cz, self.drone.yaw)
|
||||
|
||||
print("\n[状态] 飞控通信正常，正在向 PX4 流式下发原位期望以激活控制链路...")
|
||||
print("[动作] 正在向飞控请求切换至 OFFBOARD 模式并解锁...")
|
||||
|
||||
if self.drone.set_mode('OFFBOARD'):
|
||||
# 假设底层接口 drone.arm() 会发送解锁包并等待确认
|
||||
if self.drone.arm():
|
||||
self.state = MissionState.ARMING
|
||||
else:
|
||||
print("\r[状态] 等待飞控 MAVLink 串口通信建立...", end="", flush=True)
|
||||
|
||||
# --- STATE: ARMING ---
|
||||
elif self.state == MissionState.ARMING:
|
||||
print("[状态] 正在发送解锁指令...")
|
||||
if self.drone.arm():
|
||||
print("[成功] 飞控解锁成功，正在下发自动起飞指令...")
|
||||
# 转换到起飞高度，注意发送的是相对高度或绝对位置
|
||||
if self.drone.takeoff(abs(self.target_altitude)):
|
||||
self.state = MissionState.TAKEOFF
|
||||
else:
|
||||
print("[重试] 解锁未被飞控确认，1秒后重新尝试解锁...")
|
||||
time.sleep(1)
|
||||
# 持续流式下发当前点，防模式闪退
|
||||
cx, cy, cz = self.drone.local_position
|
||||
self._stream_target_position(cx, cy, cz, self.drone.yaw)
|
||||
|
||||
if self.drone.is_armed and self.drone.current_mode == 'OFFBOARD':
|
||||
print("\n[成功] 飞控已成功解锁，且处于 OFFBOARD 模式。开始执行平滑虚拟起飞流程...")
|
||||
self.state = MissionState.TAKEOFF
|
||||
|
||||
# --- STATE: TAKEOFF (虚拟航点平滑起飞) ---
|
||||
elif self.state == MissionState.TAKEOFF:
|
||||
# 判定起飞是否到达指定高度（NED 坐标系下，比较 z 值）
|
||||
dist_to_takeoff = abs(self.drone.local_z - self.target_altitude)
|
||||
print(
|
||||
f"\r[起飞中] 当前高度: {-self.drone.local_z:.2f}M -> 目标: {abs(self.target_altitude)}M | 误差: {dist_to_takeoff:.2f}M",
|
||||
end="", flush=True)
|
||||
# PX4 泛用性最强的起飞：发送原地 (0, 0) 坐标，配合目标负高度值
|
||||
self._stream_target_position(0.0, 0.0, self.target_altitude, 0.0)
|
||||
|
||||
if dist_to_takeoff <= self.arrival_radius:
|
||||
print(f"\n[成功] 已到达起飞高度！开始执行巡点导航，共有 {len(self.waypoints)} 个航点。")
|
||||
if len(self.waypoints) > 0:
|
||||
self.current_wp_index = 0
|
||||
self.state = MissionState.NAVIGATING
|
||||
else:
|
||||
self.state = MissionState.RETURNING
|
||||
# 计算距离起飞航点的距离
|
||||
dist = self.calculate_distance(0.0, 0.0, self.target_altitude)
|
||||
print(f"\r[起飞中] 目标高度: {-self.target_altitude:.2f}m | 当前距离起飞点: {dist:.2f}m", end="",
|
||||
flush=True)
|
||||
|
||||
if dist <= self.arrival_radius:
|
||||
print(f"\n[完成] 虚拟起飞安全到达目标高度！开始按顺序巡航。总计航点数: {len(self.waypoints)}")
|
||||
self.current_wp_index = 0
|
||||
self.state = MissionState.NAVIGATING
|
||||
|
||||
# --- STATE: NAVIGATING (航点巡航导航) ---
|
||||
elif self.state == MissionState.NAVIGATING:
|
||||
wp = self.waypoints[self.current_wp_index]
|
||||
# 持续高频向飞控下发当前期望航点
|
||||
self.drone.send_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
|
||||
# 流式下发当前期望的绝对 NED 坐标与偏航角（激活PX4控制环并防止失控刹车）
|
||||
self._stream_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
|
||||
|
||||
# 计算距离
|
||||
dist = self.calculate_distance(wp['x'], wp['y'], wp['z'])
|
||||
print(
|
||||
f"\r[巡航中] 正在飞往航点 [{self.current_wp_index + 1}]: 目标({wp['x']}, {wp['y']}, {wp['z']}) | 剩余距离: {dist:.2f}米",
|
||||
f"\r[巡航中] 正在前往航点 [{self.current_wp_index + 1}/{len(self.waypoints)}] | 剩余距离: {dist:.2f}m",
|
||||
end="", flush=True)
|
||||
|
||||
# 到达判定
|
||||
if dist <= self.arrival_radius:
|
||||
print(f"\n[到达] 已成功到达航点 [{self.current_wp_index + 1}]！开始悬停执行特定任务...")
|
||||
print(f"\n[到达] 成功进入航点 [{self.current_wp_index + 1}] 容差圈！开始执行就地悬停任务...")
|
||||
self.hold_start_time = time.time()
|
||||
self.state = MissionState.HOLD_TASK
|
||||
|
||||
# --- STATE: HOLD_TASK (到达航点后的原地任务悬停/拍照) ---
|
||||
elif self.state == MissionState.HOLD_TASK:
|
||||
wp = self.waypoints[self.current_wp_index]
|
||||
# 悬停期间依然要持续发点，保持飞机锁死在原位
|
||||
self.drone.send_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
|
||||
# 即使在原地停留/拍照，上位机也绝对不能“闭嘴”，必须以 5Hz 持续锁定该点坐标
|
||||
self._stream_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
|
||||
|
||||
elapsed = time.time() - self.hold_start_time
|
||||
print(
|
||||
f"\r[任务中] 航点 [{self.current_wp_index + 1}] 原地悬停检测中... 已耗时: {elapsed:.1f}s / {self.hold_duration}s",
|
||||
f"\r[任务中] 航点 [{self.current_wp_index + 1}] 原地执行中... 已耗时: {elapsed:.1f}s / {self.hold_duration}s",
|
||||
end="", flush=True)
|
||||
|
||||
if elapsed >= self.hold_duration:
|
||||
print(f"\n[完成] 航点 [{self.current_wp_index + 1}] 任务执行完毕。")
|
||||
# 切换下一个点
|
||||
print(f"\n[完成] 航点 [{self.current_wp_index + 1}] 停留时间结束。")
|
||||
self.current_wp_index += 1
|
||||
|
||||
if self.current_wp_index < len(self.waypoints):
|
||||
self.state = MissionState.NAVIGATING
|
||||
else:
|
||||
print("\n[完成] 所有航点均已巡视完毕！准备返航/降落。")
|
||||
print("\n[巡视完毕] 所有计划航点均已完成！准备进入返航/降落切换阶段。")
|
||||
if self.return_home:
|
||||
self.state = MissionState.RETURNING
|
||||
self.state = MissionState.RETURNING
|
||||
|
||||
# --- STATE: RETURNING ---
|
||||
elif self.state == MissionState.RETURNING:
|
||||
print("\n[降落中] 正在下发自动降落指令 (LAND)...")
|
||||
if self.drone.set_mode('LAND'):
|
||||
# 持续发送当前点维持链路
|
||||
cx, cy, cz = self.drone.local_position
|
||||
self._stream_target_position(cx, cy, cz, self.drone.yaw)
|
||||
|
||||
print("\n[降落中] 正在向 PX4 下发自动降落指令 (AUTO.LAND)...")
|
||||
# 提示：PX4 固件的标准降落模式名称通常为 'AUTO.LAND' 或 'LAND'，依底层驱动映射而定
|
||||
if self.drone.set_mode('AUTO.LAND') or self.drone.set_mode('LAND'):
|
||||
self.state = MissionState.LANDING
|
||||
else:
|
||||
print("⚠️ 降落模式切换失败，正在重新下发...")
|
||||
print("⚠️ 切换降落模式失败，正在高频重试...")
|
||||
|
||||
# --- STATE: LANDING ---
|
||||
elif self.state == MissionState.LANDING:
|
||||
# 判断是否已经安全着陆并自动上锁
|
||||
# 进入飞控原生 LAND 模式后，控制权已交还给飞控底层，此时上位机可以安全停止控制包输出了。
|
||||
print("\r[降落中] 正在等待飞控触地并自动上锁...", end="", flush=True)
|
||||
if not self.drone.is_armed:
|
||||
print("\n[成功] 检测到无人机已安全着陆并自动上锁。任务圆满结束！")
|
||||
print("\n[完成] 无人机已安全着陆并自动锁桨！任务圆满结束。")
|
||||
self.state = MissionState.FINISHED
|
||||
else:
|
||||
print(f"\r[降落中] 正在着陆... 当前高度: {-self.drone.local_z:.2f}M", end="", flush=True)
|
||||
|
||||
# --- STATE: FINISHED ---
|
||||
elif self.state == MissionState.FINISHED:
|
||||
return True # 任务全部结束
|
||||
return True
|
||||
|
||||
return False
|
||||
Reference in New Issue
Block a user