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As we don't know the landing point altitude in non-mission landings, assume the worst case (abort right before touchdown) and thus always climb MIS_LND_ABRT_ALT on triggering an abort. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
116 lines
4.4 KiB
C++
116 lines
4.4 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 land.cpp
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*
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* Helper class to land at the current position
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*
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* @author Andreas Antener <andreas@uaventure.com>
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*/
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#include "land.h"
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#include "navigator.h"
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Land::Land(Navigator *navigator) :
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MissionBlock(navigator)
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{
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}
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void
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Land::on_activation()
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{
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/* set current mission item to Land */
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set_land_item(&_mission_item);
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_navigator->get_mission_result()->finished = false;
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_navigator->set_mission_result_updated();
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reset_mission_item_reached();
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/* convert mission item to current setpoint */
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struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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pos_sp_triplet->previous.valid = false;
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mission_apply_limitation(_mission_item);
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mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
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pos_sp_triplet->next.valid = false;
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_navigator->set_can_loiter_at_sp(false);
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_navigator->set_position_setpoint_triplet_updated();
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}
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void
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Land::on_active()
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{
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/* for VTOL update landing location during back transition */
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if (_navigator->get_vstatus()->is_vtol &&
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_navigator->get_vstatus()->in_transition_mode) {
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struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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// create a virtual wp 1m in front of the vehicle to track during the backtransition
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waypoint_from_heading_and_distance(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
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_navigator->get_position_setpoint_triplet()->current.yaw, 1.f,
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&pos_sp_triplet->current.lat, &pos_sp_triplet->current.lon);
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_navigator->set_position_setpoint_triplet_updated();
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}
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if (_navigator->get_land_detected()->landed) {
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_navigator->get_mission_result()->finished = true;
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_navigator->set_mission_result_updated();
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_navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND);
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set_idle_item(&_mission_item);
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struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
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mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
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_navigator->set_position_setpoint_triplet_updated();
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}
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/* check if landing needs to be aborted */
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if (_navigator->abort_landing()) {
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// send reposition cmd to get out of land mode (will loiter at current position and altitude)
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vehicle_command_s vcmd = {};
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vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
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vcmd.param1 = -1;
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vcmd.param2 = 1;
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vcmd.param5 = _navigator->get_global_position()->lat;
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vcmd.param6 = _navigator->get_global_position()->lon;
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// as we don't know the landing point altitude assume the worst case (abort at 0m above ground),
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// and thus always climb MIS_LND_ABRT_ALT
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vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
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_navigator->publish_vehicle_cmd(&vcmd);
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}
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}
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