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move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.

* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2020-03-11 21:20:54 -04:00
committed by GitHub
co-authored by bresch
parent 4b9e6964f4
commit f9794e99f8
74 changed files with 419 additions and 141 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+17 -1
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@@ -76,6 +76,7 @@ MulticopterLandDetector::MulticopterLandDetector()
_paramHandle.landSpeed = param_find("MPC_LAND_SPEED");
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.useHoverThrustEstimate = param_find("MPC_USE_HTE");
_paramHandle.hoverThrottle = param_find("MPC_THR_HOVER");
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
@@ -93,6 +94,14 @@ void MulticopterLandDetector::_update_topics()
_vehicle_angular_velocity_sub.update(&_vehicle_angular_velocity);
_vehicle_control_mode_sub.update(&_vehicle_control_mode);
_vehicle_local_position_setpoint_sub.update(&_vehicle_local_position_setpoint);
if (_params.useHoverThrustEstimate) {
hover_thrust_estimate_s hte;
if (_hover_thrust_estimate_sub.update(&hte)) {
_params.hoverThrottle = hte.hover_thrust;
}
}
}
void MulticopterLandDetector::_update_params()
@@ -102,9 +111,16 @@ void MulticopterLandDetector::_update_params()
_freefall_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_lndmc_ffall_ttri.get()));
param_get(_paramHandle.minThrottle, &_params.minThrottle);
param_get(_paramHandle.hoverThrottle, &_params.hoverThrottle);
param_get(_paramHandle.minManThrottle, &_params.minManThrottle);
param_get(_paramHandle.landSpeed, &_params.landSpeed);
int32_t use_hover_thrust_estimate = 0;
param_get(_paramHandle.useHoverThrustEstimate, &use_hover_thrust_estimate);
_params.useHoverThrustEstimate = (use_hover_thrust_estimate == 1);
if (!_params.useHoverThrustEstimate) {
param_get(_paramHandle.hoverThrottle, &_params.hoverThrottle);
}
}
bool MulticopterLandDetector::_get_freefall_state()