land_detector_main.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2017 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 land_detector_main.cpp
* Land detection algorithm
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Lorenz Meier <lorenz@px4.io>
*/
#include <drivers/drv_hrt.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/tasks.h>
#include "FixedwingLandDetector.h"
#include "MulticopterLandDetector.h"
#include "RoverLandDetector.h"
#include "VtolLandDetector.h"
#include "AirshipLandDetector.h"
namespace land_detector
{
static char _currentMode[12];
int LandDetector::task_spawn(int argc, char *argv[])
{
if (argc < 2) {
print_usage();
return PX4_ERROR;
}
LandDetector *obj = nullptr;
if (strcmp(argv[1], "fixedwing") == 0) {
obj = new FixedwingLandDetector();
} else if (strcmp(argv[1], "multicopter") == 0) {
obj = new MulticopterLandDetector();
} else if (strcmp(argv[1], "vtol") == 0) {
obj = new VtolLandDetector();
} else if (strcmp(argv[1], "rover") == 0) {
obj = new RoverLandDetector();
} else if (strcmp(argv[1], "airship") == 0) {
obj = new AirshipLandDetector();
} else {
print_usage("unknown mode");
return PX4_ERROR;
}
if (obj == nullptr) {
PX4_ERR("alloc failed");
return PX4_ERROR;
}
// Remember current active mode
strncpy(_currentMode, argv[1], sizeof(_currentMode) - 1);
_currentMode[sizeof(_currentMode) - 1] = '\0';
_object.store(obj);
_task_id = task_id_is_work_queue;
obj->start();
return PX4_OK;
}
int LandDetector::print_status()
{
PX4_INFO("running (%s)", _currentMode);
return 0;
}
int LandDetector::print_usage(const char *reason)
{
if (reason != nullptr) {
PX4_ERR("%s\n", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
Module to detect the freefall and landed state of the vehicle, and publishing the `vehicle_land_detected` topic.
Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm, taking into account various
states, such as commanded thrust, arming state and vehicle motion.
### Implementation
Every type is implemented in its own class with a common base class. The base class maintains a state (landed,
maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed
priority of each internal state determines the actual land_detector state.
#### Multicopter Land Detector
**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time
GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint
in body x and y.
**maybe_landed**: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the
horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the
position controller sets the thrust setpoint to zero.
**landed**: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.
The module runs periodically on the HP work queue.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("land_detector", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover|airship", "Select vehicle type", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
extern "C" __EXPORT int land_detector_main(int argc, char *argv[])
{
return LandDetector::main(argc, argv);
}
} // namespace land_detector