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85a621303d
This commit removes the additional airspeed check (airspeed for VTOLs in hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the landed state (headwind blowing into the airspeed sensor won't stop once on the gruond). In FW mode the check would make more sense, but there the land detector is currently simply disabled. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
85 lines
3.0 KiB
C++
85 lines
3.0 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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return MulticopterLandDetector::_get_landed_state();
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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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