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land detector: Improve performance for fixed wing setups

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This commit is contained in:
Lorenz Meier
2015-06-05 12:43:45 +02:00
parent 3e0c14dea2
commit b7986e6fdd
3 changed files with 34 additions and 9 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+9 -5
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@@ -84,11 +84,15 @@ bool FixedwingLandDetector::update()
const uint64_t now = hrt_absolute_time();
bool landDetected = false;
// TODO: reset filtered values on arming?
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
}
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
}
// crude land detector for fixedwing
if (_velocity_xy_filtered < _params.maxVelocity
src/modules/land_detector/LandDetector.h
+1 -1
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@@ -87,7 +87,7 @@ protected:
virtual void initialize() = 0;
/**
* @brief Convinience function for polling uORB subscriptions
* @brief Convenience function for polling uORB subscriptions
* @return true if there was new data and it was successfully copied
**/
bool orb_update(const struct orb_metadata *meta, int handle, void *buffer);
src/modules/land_detector/land_detector_params.c
+24 -3
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@@ -45,6 +45,8 @@
*
* Maximum vertical velocity allowed to trigger a land (m/s up and down)
*
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.30f);
@@ -54,6 +56,8 @@ PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.30f);
*
* Maximum horizontal velocity allowed to trigger a land (m/s)
*
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
@@ -63,6 +67,8 @@ PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
*
* Maximum allowed around each axis to trigger a land (degrees per second)
*
* @unit deg/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
@@ -72,6 +78,9 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
*
* Maximum actuator output on throttle before triggering a land
*
* @min 0.1
* @max 0.5
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
@@ -81,24 +90,36 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
*
* Maximum horizontal velocity allowed to trigger a land (m/s)
*
* @min 0.5
* @max 10
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.40f);
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 4.0f);
/**
* Fixedwing max climb rate
*
* Maximum vertical velocity allowed to trigger a land (m/s up and down)
*
* @min 5
* @max 20
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.00f);
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
/**
* Airspeed max
*
* Maximum airspeed allowed to trigger a land (m/s)
*
* @min 4
* @max 20
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 10.00f);
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);