added class for vtol landing detection

2026-10-21 07:33:33 +08:00 · 2015-11-25 13:41:57 +01:00
parent 4e6ec2efa8
commit 8832e178b0
5 changed files with 232 additions and 6 deletions
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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.cpp
+ * Land detection algorithm for vtol
+ *
+ * @author Roman Bapst <bapstroma@gmail.com>
+ */
+
+#include "VtolLandDetector.h"
+#include <drivers/drv_hrt.h>
+
+VtolLandDetector::VtolLandDetector() : MulticopterLandDetector(),
+	_paramHandle(),
+	_params(),
+	_airspeedSub(-1),
+	_parameterSub(-1),
+	_airspeed{},
+	_was_in_air(false),
+	_airspeed_filtered(0)
+{
+	_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
+}
+
+void VtolLandDetector::initialize()
+{
+	MulticopterLandDetector::initialize();
+	_airspeedSub = orb_subscribe(ORB_ID(airspeed));
+
+	// download parameters
+	updateParameterCache(true);
+}
+
+void VtolLandDetector::updateSubscriptions()
+{
+	MulticopterLandDetector::updateSubscriptions();
+
+	orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
+}
+
+bool VtolLandDetector::update()
+{
+	updateSubscriptions();
+	updateParameterCache(false);
+
+	// this is returned from the mutlicopter land detector
+	bool landed = get_landed_state();
+
+	// for vtol we additionally consider airspeed
+	if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {
+		_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
+
+	} else {
+		// if airspeed does not update, set it to zero and rely on multicopter land detector
+		_airspeed_filtered = 0.0f;
+	}
+
+	// only consider airspeed if we have been in air before to avoid false
+	// detections in the case of wind on the ground
+	if (_was_in_air && _airspeed_filtered > _params.maxAirSpeed) {
+		landed = false;
+	}
+
+	_was_in_air = !landed;
+
+	return landed;
+}
+
+void VtolLandDetector::updateParameterCache(const bool force)
+{
+	MulticopterLandDetector::updateParameterCache(force);
+
+	bool updated;
+	parameter_update_s paramUpdate;
+
+	orb_check(_parameterSub, &updated);
+
+	if (updated) {
+		orb_copy(ORB_ID(parameter_update), _parameterSub, &paramUpdate);
+	}
+
+	if (updated || force) {
+		param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
+	}
+}