- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing
- ground contact MC NAN setpoint workaround
- ground contact additionally check acceleration setpoint
- schedule with vehicle_local_position updates (most updates require valid local position)
- don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED
- ground contact horizontal movement checks default to failed if estimates aren't available
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
Consolidate _update_params() methods for improved inheritance from the LandDetector base class.
Move common uORB::Subscriptions to the base class for inheritance.
Deprecate redundant override methods.
Script to update include paths:
for i in $(grep -rl 'include <px4_work_queue' src platforms); do sed -i 's/#include <px4_work_queue/#include <px4_platform_common\/px4_work_queue/' $i; done
This moves the hysteresis test out of the systemlib and makes it its own
small library. Since it still depends on hrt_absolute_time this does not
link yet. My attempt to get all link dependencies together failed.
Before that, different modules (ekf2, commander & land detector) changed
params upon different events:
- ekf2 & commander set params after disarm
- land detector set params on land detected
If the 2 events were several 100ms appart, it led to 2 param saves, and
the latter param set could have been blocked by an ongoing save. And if
the land detector was blocked, it could lead to mag timeouts.
This patch makes all modules use the same event, thus only a single param
save will happen.
If we want to have guarantees to never block, we should introduce a
param_try_set() API method.
This implementation is a baseline implementation and makes no attempt to be tamper-proof. A monotonic counter like the W25R64FV or a similar HW facility would be required to achieve this.
- 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
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.
;
Daniel Agar