VtolLandDetector.h
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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.h
* Land detection implementation for VTOL also called hybrids.
*
* @author Roman Bapst <bapstr@gmail.com>
* @author Julian Oes <julian@oes.ch>
*/
#pragma once
#include <uORB/topics/airspeed_validated.h>
#include "MulticopterLandDetector.h"
namespace land_detector
{
class VtolLandDetector : public MulticopterLandDetector
{
public:
VtolLandDetector() = default;
~VtolLandDetector() override = default;
protected:
void _update_topics() override;
bool _get_landed_state() override;
bool _get_maybe_landed_state() override;
bool _get_freefall_state() override;
private:
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
bool _was_in_air{false}; /**< indicates whether the vehicle was in the air in the previous iteration */
float _airspeed_filtered{0.0f}; /**< low pass filtered airspeed */
DEFINE_PARAMETERS_CUSTOM_PARENT(
MulticopterLandDetector,
(ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd_max
);
};
} // namespace land_detector