FW land detector increase trigger time and cleanup (#8486)

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -57,7 +57,9 @@ FixedwingLandDetector::FixedwingLandDetector()
 	_paramHandle.maxIntVelocity = param_find("LNDFW_VELI_MAX");
 
 	// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
-	_landed_hysteresis.set_hysteresis_time_from(false, LAND_DETECTOR_TRIGGER_TIME_US);
+	_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
+
+	_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
 }
 
 void FixedwingLandDetector::_initialize_topics()
@@ -86,26 +88,8 @@ float FixedwingLandDetector::_get_max_altitude()
 {
 	// TODO
 	// This means no altitude limit as the limit
-	// is always current position plus 1000 meters
+	// is always current position plus 10000 meters
-	return roundf(-_local_pos.z + 1000);
+	return roundf(-_local_pos.z + 10000);
-}
-
-bool FixedwingLandDetector::_get_freefall_state()
-{
-	// TODO
-	return false;
-}
-
-bool FixedwingLandDetector::_get_ground_contact_state()
-{
-	// TODO
-	return false;
-}
-
-bool FixedwingLandDetector::_get_maybe_landed_state()
-{
-	// TODO
-	return false;
 }
 
 bool FixedwingLandDetector::_get_landed_state()

src/modules/land_detector/FixedwingLandDetector.h

@@ -60,16 +60,15 @@ protected:
 	void _initialize_topics() override;
 	void _update_params() override;
 	void _update_topics() override;
+
 	bool _get_landed_state() override;
-	bool _get_maybe_landed_state() override;
-	bool _get_ground_contact_state() override;
-	bool _get_freefall_state() override;
 	float _get_max_altitude() override;
 
 private:
 
 	/** Time in us that landing conditions have to hold before triggering a land. */
-	static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 1500000;
+	static constexpr uint64_t LANDED_TRIGGER_TIME_US = 2000000;
+	static constexpr uint64_t FLYING_TRIGGER_TIME_US = 0;
 
 	struct {
 		param_t maxVelocity;

src/modules/land_detector/LandDetector.h

@@ -120,17 +120,17 @@ protected:
 	/**
 	 * @return true if UAV is in almost landed state
 	 */
-	virtual bool _get_maybe_landed_state() = 0;
+	virtual bool _get_maybe_landed_state() { return false; }
 
 	/**
 	 * @return true if UAV is touching ground but not landed
 	 */
-	virtual bool _get_ground_contact_state()  = 0;
+	virtual bool _get_ground_contact_state() { return false; }
 
 	/**
 	 * @return true if UAV is in free-fall state.
 	 */
-	virtual bool _get_freefall_state() = 0;
+	virtual bool _get_freefall_state() { return false; }
 
 	/**
 	 *  @return maximum altitude that can be reached
@@ -167,7 +167,7 @@ private:
 
 	void _cycle();
 
-	void _check_params(const bool force);
+	void _check_params(bool force = false);
 
 	void _update_state();
 

src/modules/land_detector/land_detector_params.c

@@ -31,150 +31,6 @@
  *
  ****************************************************************************/
 
-/**
- * @file land_detector.c
- * Land detector algorithm parameters.
- *
- * @author Johan Jansen <jnsn.johan@gmail.com>
- */
-
-/**
- * Multicopter max climb rate
- *
- * Maximum vertical velocity allowed in the landed state (m/s up and down)
- *
- * @unit m/s
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);
-
-/**
- * Multicopter max horizontal velocity
- *
- * Maximum horizontal velocity allowed in the landed state (m/s)
- *
- * @unit m/s
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
-
-/**
- * Multicopter max rotation
- *
- * Maximum allowed angular velocity around each axis allowed in the landed state.
- *
- * @unit deg/s
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
-
-/**
- * Multicopter specific force threshold
- *
- * Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
- *
- * @unit m/s^2
- * @min 0.1
- * @max 10
- * @decimal 2
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
-
-/**
- * Multicopter sub-hover throttle scaling
- *
- * The range between throttle_min and throttle_hover is scaled
- * by this parameter to define how close to minimum throttle
- * the current throttle value needs to be in order to get
- * accepted as landed.
- *
- * @min 0.05
- * @max 0.5
- * @decimal 2
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
-
-/**
- * Multicopter free-fall trigger time
- *
- * Seconds (decimal) that freefall conditions have to met before triggering a freefall.
- * Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
- *
- * @unit s
- * @min 0.02
- * @max 5
- * @decimal 2
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
-
-/**
- * Fixedwing max horizontal velocity
- *
- * Maximum horizontal velocity allowed in the landed state (m/s)
- *
- * @unit m/s
- * @min 0.5
- * @max 10
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
-
-/**
- * Fixedwing max climb rate
- *
- * Maximum vertical velocity allowed in the landed state (m/s up and down)
- *
- * @unit m/s
- * @min 5
- * @max 20
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
-
-/**
- * Fixedwing max short-term velocity
- *
- * Maximum velocity integral in flight direction allowed in the landed state (m/s)
- *
- * @unit m/s
- * @min 2
- * @max 10
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);
-
-/**
- * Airspeed max
- *
- * Maximum airspeed allowed in the landed state (m/s)
- *
- * @unit m/s
- * @min 4
- * @max 20
- * @decimal 1
- *
- * @group Land Detector
- */
-PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);
-
 /**
  * Total flight time in microseconds
  *
@@ -198,21 +54,3 @@ PARAM_DEFINE_INT32(LND_FLIGHT_T_HI, 0);
  *
  */
 PARAM_DEFINE_INT32(LND_FLIGHT_T_LO, 0);
-
-/**
- * Maximum altitude for multicopters
- *
- * The system will obey this limit as a
- * hard altitude limit. This setting will
- * be consolidated with the GF_MAX_VER_DIST
- * parameter.
- * A negative value indicates no altitude limitation.
- *
- * @unit m
- * @min -1
- * @max 10000
- * @decimal 2
- * @group Land Detector
- *
- */
-PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);

src/modules/land_detector/land_detector_params_fw.c

@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014-2017 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Fixedwing max horizontal velocity
+ *
+ * Maximum horizontal velocity allowed in the landed state (m/s)
+ *
+ * @unit m/s
+ * @min 0.5
+ * @max 10
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
+
+/**
+ * Fixedwing max climb rate
+ *
+ * Maximum vertical velocity allowed in the landed state (m/s up and down)
+ *
+ * @unit m/s
+ * @min 5
+ * @max 20
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
+
+/**
+ * Fixedwing max short-term velocity
+ *
+ * Maximum velocity integral in flight direction allowed in the landed state (m/s)
+ *
+ * @unit m/s
+ * @min 2
+ * @max 10
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 8.0f);
+
+/**
+ * Airspeed max
+ *
+ * Maximum airspeed allowed in the landed state (m/s)
+ *
+ * @unit m/s
+ * @min 4
+ * @max 20
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);

src/modules/land_detector/land_detector_params_mc.c

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014-2016 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Multicopter max climb rate
+ *
+ * Maximum vertical velocity allowed in the landed state (m/s up and down)
+ *
+ * @unit m/s
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);
+
+/**
+ * Multicopter max horizontal velocity
+ *
+ * Maximum horizontal velocity allowed in the landed state (m/s)
+ *
+ * @unit m/s
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
+
+/**
+ * Multicopter max rotation
+ *
+ * Maximum allowed angular velocity around each axis allowed in the landed state.
+ *
+ * @unit deg/s
+ * @decimal 1
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
+
+/**
+ * Multicopter specific force threshold
+ *
+ * Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
+ *
+ * @unit m/s^2
+ * @min 0.1
+ * @max 10
+ * @decimal 2
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
+
+/**
+ * Multicopter sub-hover throttle scaling
+ *
+ * The range between throttle_min and throttle_hover is scaled
+ * by this parameter to define how close to minimum throttle
+ * the current throttle value needs to be in order to get
+ * accepted as landed.
+ *
+ * @min 0.05
+ * @max 0.5
+ * @decimal 2
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
+
+/**
+ * Multicopter free-fall trigger time
+ *
+ * Seconds (decimal) that freefall conditions have to met before triggering a freefall.
+ * Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
+ *
+ * @unit s
+ * @min 0.02
+ * @max 5
+ * @decimal 2
+ *
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
+
+/**
+ * Maximum altitude for multicopters
+ *
+ * The system will obey this limit as a
+ * hard altitude limit. This setting will
+ * be consolidated with the GF_MAX_VER_DIST
+ * parameter.
+ * A negative value indicates no altitude limitation.
+ *
+ * @unit m
+ * @min -1
+ * @max 10000
+ * @decimal 2
+ * @group Land Detector
+ *
+ */
+PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);