mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-02 14:10:36 +08:00
Daniel Agar
f5f2897486
- 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
109 lines
3.7 KiB
C++
109 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file VtolLandDetector.cpp
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* Land detection algorithm for VTOL
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*
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* @author Roman Bapst <bapstroma@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <drivers/drv_hrt.h>
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#include <matrix/math.hpp>
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#include "VtolLandDetector.h"
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namespace land_detector
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{
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void VtolLandDetector::_update_topics()
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{
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MulticopterLandDetector::_update_topics();
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}
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bool VtolLandDetector::_get_maybe_landed_state()
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{
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// If in Fixed-wing mode, only trigger if disarmed
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if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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return !_armed;
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}
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return MulticopterLandDetector::_get_maybe_landed_state();
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}
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bool VtolLandDetector::_get_landed_state()
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{
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// If in Fixed-wing mode, only trigger if disarmed
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if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
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return !_armed;
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}
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// this is returned from the mutlicopter land detector
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bool landed = MulticopterLandDetector::_get_landed_state();
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// for vtol we additionally consider airspeed
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airspeed_validated_s airspeed_validated{};
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_airspeed_validated_sub.copy(&airspeed_validated);
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if (hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)) {
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_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * airspeed_validated.true_airspeed_m_s;
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} else {
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// if airspeed does not update, set it to zero and rely on multicopter land detector
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_airspeed_filtered = 0.0f;
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}
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// only consider airspeed if we have been in air before to avoid false
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// detections in the case of wind on the ground
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if (_was_in_air && (_airspeed_filtered > _param_lndfw_airspd_max.get())) {
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landed = false;
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}
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_was_in_air = !landed;
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return landed;
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}
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bool VtolLandDetector::_get_freefall_state()
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{
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// true if falling or in a parabolic flight (low gravity)
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bool free_fall_detected = MulticopterLandDetector::_get_freefall_state();
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// only return a positive free fall detected if not in fixed-wing mode
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return _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING && free_fall_detected;
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}
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} // namespace land_detector
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