navigator : add support for precision landing

2026-10-24 07:23:34 +08:00 · 2018-01-15 10:27:23 +01:00
parent 652d295b2d
commit aa4c6c038d
9 changed files with 925 additions and 10 deletions
@@ -0,0 +1,121 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 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 precland_params.c
+ *
+ * Parameters for precision landing.
+ *
+ * @author Nicolas de Palezieux (Sunflower Labs) <ndepal@gmail.com>
+ */
+
+/**
+ * Landing Target Timeout
+ *
+ * Time after which the landing target is considered lost without any new measurements.
+ *
+ * @unit s
+ * @min 0.0
+ * @max 50
+ * @decimal 1
+ * @increment 0.5
+ * @group Precision Land
+ */
+PARAM_DEFINE_FLOAT(PLD_BTOUT, 5.0f);
+
+/**
+ * Horizontal acceptance radius
+ *
+ * Start descending if closer above landing target than this.
+ *
+ * @unit m
+ * @min 0.0
+ * @max 10
+ * @decimal 2
+ * @increment 0.1
+ * @group Precision Land
+ */
+PARAM_DEFINE_FLOAT(PLD_HACC_RAD, 0.2f);
+
+/**
+ * Final approach altitude
+ *
+ * Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
+ *
+ * @unit m
+ * @min 0.0
+ * @max 10
+ * @decimal 2
+ * @increment 0.1
+ * @group Precision Land
+ */
+PARAM_DEFINE_FLOAT(PLD_FAPPR_ALT, 0.1f);
+
+/**
+ * Search altitude
+ *
+ * Altitude above home to which to climb when searching for the landing target.
+ *
+ * @unit m
+ * @min 0.0
+ * @max 100
+ * @decimal 1
+ * @increment 0.1
+ * @group Precision Land
+ */
+PARAM_DEFINE_FLOAT(PLD_SRCH_ALT, 10.0f);
+
+/**
+ * Search timeout
+ *
+ * Time allowed to search for the landing target before falling back to normal landing.
+ *
+ * @unit s
+ * @min 0.0
+ * @max 100
+ * @decimal 1
+ * @increment 0.1
+ * @group Precision Land
+ */
+PARAM_DEFINE_FLOAT(PLD_SRCH_TOUT, 10.0f);
+
+/**
+ * Maximum number of search attempts
+ *
+ * Maximum number of times to seach for the landing target if it is lost during the precision landing.
+ *
+ * @min 0.0
+ * @max 100
+ * @group Precision Land
+ */
+PARAM_DEFINE_INT32(PLD_MAX_SRCH, 3);