VtolLandDetector.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file VtolLandDetector.cpp
* Land detection algorithm for VTOL
*
* @author Roman Bapst <bapstroma@gmail.com>
* @author Julian Oes <julian@oes.ch>
*/
#include <drivers/drv_hrt.h>
#include <matrix/math.hpp>
#include "VtolLandDetector.h"
namespace land_detector
{
void VtolLandDetector::_update_topics()
{
MulticopterLandDetector::_update_topics();
}
bool VtolLandDetector::_get_maybe_landed_state()
{
// If in Fixed-wing mode, only trigger if disarmed
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return !_armed;
}
return MulticopterLandDetector::_get_maybe_landed_state();
}
bool VtolLandDetector::_get_landed_state()
{
// If in Fixed-wing mode, only trigger if disarmed
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return !_armed;
}
// this is returned from the mutlicopter land detector
bool landed = MulticopterLandDetector::_get_landed_state();
// for vtol we additionally consider airspeed
airspeed_validated_s airspeed_validated{};
_airspeed_validated_sub.copy(&airspeed_validated);
if (hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * airspeed_validated.true_airspeed_m_s;
} else {
// if airspeed does not update, set it to zero and rely on multicopter land detector
_airspeed_filtered = 0.0f;
}
// only consider airspeed if we have been in air before to avoid false
// detections in the case of wind on the ground
if (_was_in_air && (_airspeed_filtered > _param_lndfw_airspd_max.get())) {
landed = false;
}
_was_in_air = !landed;
return landed;
}
bool VtolLandDetector::_get_freefall_state()
{
// true if falling or in a parabolic flight (low gravity)
bool free_fall_detected = MulticopterLandDetector::_get_freefall_state();
// only return a positive free fall detected if not in fixed-wing mode
return _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && free_fall_detected;
}
} // namespace land_detector