vehicles: add new vehicle type: Airship (#14862)

Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>

src/modules/land_detector/AirshipLandDetector.cpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2017 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 AirshipLandDetector.cpp
+ * Land detection algorithm for airships
+ *
+ * @author Anton Erasmus <anton@flycloudline.com>
+ */
+
+#include "AirshipLandDetector.h"
+
+namespace land_detector
+{
+
+bool AirshipLandDetector::_get_ground_contact_state()
+{
+	return false;
+}
+
+bool AirshipLandDetector::_get_landed_state()
+{
+
+	if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+		return true; // If Landing has been requested then say we have landed.
+
+	} else {
+		return !_armed;  // If we are armed we are not landed.
+	}
+}
+
+} // namespace land_detector

src/modules/land_detector/AirshipLandDetector.h

@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2017 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 AirshipLandDetector.h
+ * Land detection implementation for airships.
+ *
+ * @author Anton Erasmus <anton@flycloudline.com>
+ */
+
+#pragma once
+
+#include "LandDetector.h"
+
+namespace land_detector
+{
+
+class AirshipLandDetector : public LandDetector
+{
+public:
+	AirshipLandDetector() = default;
+	~AirshipLandDetector() override = default;
+
+protected:
+	bool _get_ground_contact_state() override;
+	bool _get_landed_state() override;
+
+};
+
+} // namespace land_detector

src/modules/land_detector/CMakeLists.txt

@@ -41,6 +41,7 @@ px4_add_module(
 		FixedwingLandDetector.cpp
 		VtolLandDetector.cpp
 		RoverLandDetector.cpp
+		AirshipLandDetector.cpp
 	DEPENDS
 		hysteresis
 	)

src/modules/land_detector/land_detector_main.cpp

@@ -49,6 +49,7 @@
 #include "MulticopterLandDetector.h"
 #include "RoverLandDetector.h"
 #include "VtolLandDetector.h"
+#include "AirshipLandDetector.h"
 
 
 namespace land_detector
@@ -77,6 +78,9 @@ int LandDetector::task_spawn(int argc, char *argv[])
 	} else if (strcmp(argv[1], "rover") == 0) {
 		obj = new RoverLandDetector();
 
+	} else if (strcmp(argv[1], "airship") == 0) {
+		obj = new AirshipLandDetector();
+
 	} else {
 		print_usage("unknown mode");
 		return PX4_ERROR;
@@ -138,7 +142,7 @@ The module runs periodically on the HP work queue.
 
 	PRINT_MODULE_USAGE_NAME("land_detector", "system");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
-	PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover", "Select vehicle type", false);
+	PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover|airship", "Select vehicle type", false);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 	return 0;
 }