FixedwingLandDetector.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 FixedwingLandDetector.h
* Land detector implementation for fixedwing.
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Morten Lysgaard <morten@lysgaard.no>
* @author Julian Oes <julian@oes.ch>
*/
#pragma once
#include <matrix/math.hpp>
#include <uORB/topics/airspeed_validated.h>
#include "LandDetector.h"
using namespace time_literals;
namespace land_detector
{
class FixedwingLandDetector final : public LandDetector
{
public:
FixedwingLandDetector();
~FixedwingLandDetector() override = default;
protected:
bool _get_landed_state() override;
private:
/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr hrt_abstime LANDED_TRIGGER_TIME_US = 2_s;
static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
float _airspeed_filtered{0.0f};
float _velocity_xy_filtered{0.0f};
float _velocity_z_filtered{0.0f};
float _xy_accel_filtered{0.0f};
DEFINE_PARAMETERS_CUSTOM_PARENT(
LandDetector,
(ParamFloat<px4::params::LNDFW_XYACC_MAX>) _param_lndfw_xyaccel_max,
(ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd,
(ParamFloat<px4::params::LNDFW_VEL_XY_MAX>) _param_lndfw_vel_xy_max,
(ParamFloat<px4::params::LNDFW_VEL_Z_MAX>) _param_lndfw_vel_z_max
);
};
} // namespace land_detector