480dd0922b
Land detector: revision of the 2 stage landing mechanism
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Ground detect: pilot want down or we are on minimum thrust by auto land but no vertical movement
-> Controller should relax x,y corrections and even ramp down desired thrust
Landed: All other conditions are eventually met
2017-01-28 16:23:04 +01:00
b130913090
land_detector: made sure the 2 stage landing can not happen in one hysteresis time
2017-01-28 16:23:04 +01:00
9ef97b78c8
Land detector: Turn throttle range parameter into proper user-configurable parameter
2017-01-28 16:23:04 +01:00
9448b8cb52
Land detector: Fix hover throttle detection
2017-01-28 16:23:04 +01:00
58983e4c52
Land detector: Fix code style
2017-01-28 16:23:04 +01:00
3fe45697bb
Fix3dwinglandDetector.cpp: adjusted to astyle
2017-01-28 16:23:04 +01:00
2f164602b4
LandDetector:
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- constructor initalization fix
- set trigger time for ground contact hysteresis
- updated ground_contact_state logic
MulticopterLandDetector:
- added hysteresis for ground_contact
VtolLandDetector:
- get_ground_contact_state function that return the one form MultcopterLandDetector
FixedWingLandDetector:
- get_ground_contact_state with a return false: requires implementation
2017-01-28 16:23:04 +01:00
9e9e0e23ad
Land detector: Detect ground contact separately
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This allows to detect ground contact before concluding the system is landed. This allows to disable some parts of the horizontal control system and only control the vertical position to avoid tipping over.
;
2017-01-28 16:23:04 +01:00
5b54d78128
land detector: changed minimum throttle threshold to have useful landing detection in real world scenarios
2017-01-16 08:25:26 -08:00
f95fb0f20f
land detector: commented takeoff throttle values for each mode
2017-01-16 08:25:26 -08:00
7ab2958757
land_detector: added takeoff throttle threshold
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if we control manually and are still landed, we want to stay idle until the pilot rises the throttle
2017-01-16 08:25:26 -08:00
66226fb754
Land detector: Harden string handling
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Due to known input this was not a real issue, but bad style.
2017-01-03 14:44:45 +01:00
b79e4ab506
land detector: reverted scientific notation unwanted doubles
2016-12-26 15:36:43 +01:00
03d7b65299
land detector: refactoring ff to freefall
2016-12-26 15:36:43 +01:00
808dedf441
land detector: small refactor while studying
2016-12-26 15:36:43 +01:00
8ff237c69f
Remove size optimization for individual modules
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It makes more sense to set the optimization flags on a platform basis
instead of individually for each module. This allows for different
optimization options for SITL, NuttX, Snapdragon, etc.
2016-09-30 08:11:51 +02:00
ebdfa2860b
land_detector status cleanup
2016-09-27 08:49:45 +02:00
21bc5d1716
land_detector: remove leftover printf ( #5178 )
2016-07-31 07:49:11 -07:00
6bf4bd5f35
land_detector: remove unused variable
2016-07-30 12:26:56 +02:00
50cac88e5b
land_detector: big refactor, share update function
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This is a big refactor and general cleanup of the land detector. The
main functional change is to share the hysteresis lib across all land
detectors.
2016-07-30 12:26:56 +02:00
9f928308c4
land_detector: astyle
2016-07-30 12:26:56 +02:00
93acff8641
MulticopterLandDetector: remove always true call
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The result from `!get_freefall_state()` was always true because
`get_freefall_state()` is already called before `get_landed_state()` is
called. Only if we're not in a freefall, we check if we are landed.
2016-07-30 12:26:56 +02:00
740bfc0b32
MulticopterLandDetector: use hysteresis lib
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The hysteresis was not properly implemented in the land detector and is
therefore replaced by the library call, both for the freefall detector
and the land detector.
2016-07-30 12:26:56 +02:00
8026273cb0
land_detector: do not publish if landing or freefall state has not changed
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Signed-off-by: tumbili <roman@px4.io > and bkueng <beat-kueng@gmx.net >
2016-06-23 15:56:51 +02:00
f56e951f00
land_detector: don't estimate freefall on 0 data
2016-06-07 12:34:54 +02:00
b2719cf439
land_detector: publish when there is proper data
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Instead of publishing before even having done update(), let's wait for a
result and then advertise.
2016-06-07 12:34:54 +02:00
64109daff8
land_detector: fix timestamp type ( #4710 )
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The overflow of the uint32_t lead to the land_detector start getting
aborted.
2016-06-01 17:15:27 +02:00
224fbbc26b
land_detector: fix uninitialized value ( #4659 )
2016-05-27 17:18:51 +02:00
db5212a209
Land detector: add missing init
2016-05-13 10:34:13 +02:00
49ae3e17d5
land_detector: fix wrong astyle formatting ( #4399 )
2016-04-29 15:36:18 +02:00
1b11049e42
Land detector: fix code style
2016-04-29 15:01:39 +02:00
8b9b02bee8
Land detector: Update params
2016-04-29 14:58:27 +02:00
5c1d2c1cee
Land-detector: Better granularity for manual and auto flight modes
2016-04-29 14:50:45 +02:00
3ccd9988d3
Multicopter land detector: Enforce sync between system and detector
2016-04-29 12:34:58 +02:00
aa6168963a
Land detectorr: Fix units, complete meta data for decent user representation
2016-04-25 09:35:23 +02:00
b3841e5ea5
ran astyle
2016-04-18 22:27:11 +02:00
ec427f61c4
fix a small mistake: parameter LNDMC_FFALL_TRIG was not shown in QGC.
2016-04-18 22:27:11 +02:00
f350bab67b
use accelerations provided by the control_state message instead of
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sensor_combined
2016-04-18 22:27:11 +02:00
e6b3cf3ac9
Fix code style
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(Ran AStyle)
2016-04-18 22:27:11 +02:00
59c9f6b4fb
Removed debug parts
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Disable free-fall detection when threshold is 0
2016-04-18 22:27:11 +02:00
776c7f5d60
Updated commander to take free-fall into account
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Added free-fall status in vehicle_status topic
2016-04-18 22:27:11 +02:00
98d51179ad
Added time to trigger free-fall as a parameter
2016-04-18 22:27:11 +02:00
78a99797fb
Implemented first try on multicopter free-fall detection
2016-04-18 22:27:11 +02:00
35110a52f9
Added room in land_detector code for free-fall detection
2016-04-18 22:27:11 +02:00
967e4dd127
Modified cmake to use STACK_MAX and STACK_MAIN
2016-04-14 13:36:36 -04:00
dfeab4f5e3
remove unused vehicle_status
2016-04-11 18:01:48 +02:00
321440281b
Fix land detection for altitude hold
2016-04-05 15:32:13 -07:00
91a32ff7fb
landdetector: use PX4_WARN and remove printf statements
2016-03-22 22:20:11 +01:00
2f4aaa6449
land_detector: remove unused variables
2016-03-14 09:45:34 +01:00
836c63339e
land_detector_params: comment fix
2016-03-14 09:45:34 +01:00
Matthias Grob