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fw_att_pos_estimator: added simple in-air/on-ground detector

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Julian Oes
2014-04-21 17:35:42 +02:00
parent 654ab4635a
commit 488785250f
1 changed files with 21 additions and 1 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+21 -1
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@@ -211,6 +211,9 @@ private:
AttPosEKF *_ekf;
float _velocity_xy_filtered;
float _velocity_z_filtered;
/**
* Update our local parameter cache.
*/
@@ -292,7 +295,9 @@ FixedwingEstimator::FixedwingEstimator() :
_initialized(false),
_gps_initialized(false),
_mavlink_fd(-1),
_ekf(nullptr)
_ekf(nullptr),
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f)
{
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@@ -1030,6 +1035,21 @@ FixedwingEstimator::task_main()
_local_pos.z_global = false;
_local_pos.yaw = _att.yaw;
// _velocity_xy_filtered = 0.9f*_velocity_xy_filtered + 0.1f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
// _velocity_z_filtered = 0.9f*_velocity_z_filtered + 0.1f*fabsf(_local_pos.vz);
/* crude land detector for fixedwing only,
* TODO: adapt so that it works for both, maybe move to another location
*/
if (_velocity_xy_filtered < 2
&& _velocity_z_filtered < 2
&& _airspeed.true_airspeed_m_s < 10) {
_local_pos.landed = true;
} else {
_local_pos.landed = false;
}
/* lazily publish the local position only once available */
if (_local_pos_pub > 0) {
/* publish the attitude setpoint */