move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

* 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>
2026-10-21 21:13:33 +08:00 · 2020-03-11 21:20:54 -04:00
parent 4b9e6964f4
commit f9794e99f8
74 changed files with 419 additions and 141 deletions
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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 hover_thrust_estimator.hpp
+ * @brief Interface class for a hover thrust estimator
+ * Convention is positive thrust, hover thrust and acceleration UP
+ *
+ * @author Mathieu Bresciani 	<brescianimathieu@gmail.com>
+ */
+
+#pragma once
+
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/defines.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/posix.h>
+#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionCallback.hpp>
+#include <uORB/topics/hover_thrust_estimate.h>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/vehicle_land_detected.h>
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/vehicle_local_position_setpoint.h>
+#include <uORB/topics/vehicle_status.h>
+
+#include "zero_order_hover_thrust_ekf.hpp"
+
+class MulticopterHoverThrustEstimator : public ModuleBase<MulticopterHoverThrustEstimator>, public ModuleParams,
+	public px4::WorkItem
+{
+public:
+	MulticopterHoverThrustEstimator();
+	~MulticopterHoverThrustEstimator() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	bool init();
+
+	/** @see ModuleBase::print_status() */
+	int print_status() override;
+
+private:
+	void Run() override;
+	void updateParams() override;
+
+	void reset();
+	void publishStatus(ZeroOrderHoverThrustEkf::status &status);
+
+	ZeroOrderHoverThrustEkf _hover_thrust_ekf{};
+
+	uORB::Publication<hover_thrust_estimate_s> _hover_thrust_ekf_pub{ORB_ID(hover_thrust_estimate)};
+
+	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_setpoint_sub{this, ORB_ID(vehicle_local_position_setpoint)};
+
+	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
+	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
+	uORB::Subscription _vehicle_local_pos_sub{ORB_ID(vehicle_local_position)};
+
+	hrt_abstime _timestamp_last{0};
+
+	bool _armed{false};
+	bool _landed{false};
+	bool _in_air{false};
+
+	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
+
+	DEFINE_PARAMETERS(
+		(ParamFloat<px4::params::HTE_HT_NOISE>) _param_hte_ht_noise,
+		(ParamFloat<px4::params::HTE_ACC_GATE>) _param_hte_acc_gate,
+		(ParamFloat<px4::params::HTE_HT_ERR_INIT>) _param_hte_ht_err_init,
+		(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover
+	)
+};