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FixedWingLandDetector: force to landed during runway takeoff

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mahima-yoga 2026-01-09 17:34:46 +01:00 committed by Mahima Yoga
parent 6de6abfb64
commit 95b8328162
2 changed files with 25 additions and 10 deletions
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33
src/modules/land_detector/FixedwingLandDetector.cpp
View File

@ -57,18 +57,31 @@ bool FixedwingLandDetector::_get_landed_state()
return true;
}
// Force the landed state to stay landed if we're currently in an early state of the takeoff state machines.
// This prevents premature transitions to in-air during the early takeoff phase.
if (_landed_hysteresis.get_state()) {
launch_detection_status_s launch_detection_status{};
_launch_detection_status_sub.copy(&launch_detection_status);
fixed_wing_runway_control_s fixed_wing_runway_control{};
_fixed_wing_runway_control_sub.copy(&fixed_wing_runway_control);
// Check if we're in catapult/hand-launch waiting state
const bool waiting_for_catapult_launch = hrt_elapsed_time(&launch_detection_status.timestamp) < 500_ms
&& launch_detection_status.launch_detection_state == launch_detection_status_s::STATE_WAITING_FOR_LAUNCH;
// Check if we're in runway takeoff early phase (throttle ramp or clamped to runway)
const bool waiting_for_auto_runway_climbout = hrt_elapsed_time(&fixed_wing_runway_control.timestamp) < 500_ms
&& fixed_wing_runway_control.runway_takeoff_state < fixed_wing_runway_control_s::STATE_CLIMBOUT;
if (waiting_for_catapult_launch || waiting_for_auto_runway_climbout) {
return true;
}
}
bool landDetected = false;
launch_detection_status_s launch_detection_status{};
_launch_detection_status_sub.copy(&launch_detection_status);
// force the landed state to stay landed if we're currently in the catapult/hand-launch launch process. Detect that we are in this state
// by checking if the last publication of launch_detection_status is less than 0.5s old, and we're still in the wait for launch state.
if (_landed_hysteresis.get_state() && hrt_elapsed_time(&launch_detection_status.timestamp) < 500_ms
&& launch_detection_status.launch_detection_state == launch_detection_status_s::STATE_WAITING_FOR_LAUNCH) {
landDetected = true;
} else if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 1_s) {
if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 1_s) {
float val = 0.0f;

2
src/modules/land_detector/FixedwingLandDetector.h
View File

@ -44,6 +44,7 @@
#include <matrix/math.hpp>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/fixed_wing_runway_control.h>
#include <uORB/topics/launch_detection_status.h>
#include "LandDetector.h"
@ -67,6 +68,7 @@ protected:
private:
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
uORB::Subscription _fixed_wing_runway_control_sub{ORB_ID(fixed_wing_runway_control)};
float _airspeed_filtered{0.0f};
float _velocity_xy_filtered{0.0f};