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Land detector fix for VTOL in FW mode

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sanderux 2017-08-08 11:39:51 +02:00 committed by Lorenz Meier
parent 72f9371ca4
commit 49d2e8a3ff
2 changed files with 23 additions and 9 deletions
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12
src/modules/land_detector/MulticopterLandDetector.cpp
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@ -123,6 +123,7 @@ void MulticopterLandDetector::_initialize_topics()
_ctrl_state_sub = orb_subscribe(ORB_ID(control_state));
_vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_battery_sub = orb_subscribe(ORB_ID(battery_status));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
void MulticopterLandDetector::_update_topics()
@ -136,6 +137,7 @@ void MulticopterLandDetector::_update_topics()
_orb_update(ORB_ID(control_state), _ctrl_state_sub, &_ctrl_state);
_orb_update(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub, &_control_mode);
_orb_update(ORB_ID(battery_status), _battery_sub, &_battery);
_orb_update(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
}
void MulticopterLandDetector::_update_params()
@ -192,6 +194,11 @@ bool MulticopterLandDetector::_get_ground_contact_state()
_arming_time = now;
}
// Only trigger in RW mode
if (!_vehicle_status.is_rotary_wing) {
return false;
}
// If in manual flight mode never report landed if the user has more than idle throttle
// Check if user commands throttle and if so, report no ground contact based on
// the user intent to take off (even if the system might physically still have
@ -242,6 +249,11 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
return true;
}
// Only trigger in RW mode
if (!_vehicle_status.is_rotary_wing) {
return false;
}
// If we control manually and are still landed, we want to stay idle until the pilot rises the throttle for takeoff
if (_state == LandDetectionState::LANDED && _has_manual_control_present()) {
if (_manual.z < _get_takeoff_throttle()) {

20
src/modules/land_detector/MulticopterLandDetector.h
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@ -126,16 +126,18 @@ private:
int _ctrl_state_sub;
int _vehicle_control_mode_sub;
int _battery_sub;
int _vehicle_status_sub;
struct vehicle_local_position_s _vehicleLocalPosition;
struct vehicle_local_position_setpoint_s _vehicleLocalPositionSetpoint;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
struct manual_control_setpoint_s _manual;
struct control_state_s _ctrl_state;
struct vehicle_control_mode_s _control_mode;
struct battery_status_s _battery;
struct vehicle_local_position_s _vehicleLocalPosition;
struct vehicle_local_position_setpoint_s _vehicleLocalPositionSetpoint;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
struct manual_control_setpoint_s _manual;
struct control_state_s _ctrl_state;
struct vehicle_control_mode_s _control_mode;
struct battery_status_s _battery;
struct vehicle_status_s _vehicle_status;
uint64_t _min_trust_start; ///< timestamp when minimum trust was applied first
uint64_t _arming_time;