mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-04 20:50:34 +08:00
Daniel Agar
117 lines
3.8 KiB
C++
117 lines
3.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2015 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 MulticopterLandDetector.h
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* Land detection algorithm for multicopters
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*
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* @author Johan Jansen <jnsn.johan@gmail.com>
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* @author Morten Lysgaard <morten@lysgaard.no>
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*/
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#ifndef __MULTICOPTER_LAND_DETECTOR_H__
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#define __MULTICOPTER_LAND_DETECTOR_H__
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#include "LandDetector.h"
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/parameter_update.h>
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#include <systemlib/param/param.h>
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class MulticopterLandDetector : public LandDetector
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{
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public:
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MulticopterLandDetector();
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protected:
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/**
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* @brief polls all subscriptions and pulls any data that has changed
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**/
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void updateSubscriptions();
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/**
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* @brief Runs one iteration of the land detection algorithm
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**/
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bool update() override;
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/**
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* @brief Initializes the land detection algorithm
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**/
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void initialize() override;
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private:
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/**
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* @brief download and update local parameter cache
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**/
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void updateParameterCache(const bool force);
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/**
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* @brief Handles for interesting parameters
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**/
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struct {
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param_t maxClimbRate;
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param_t maxVelocity;
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param_t maxRotation;
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param_t maxThrottle;
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} _paramHandle;
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struct {
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float maxClimbRate;
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float maxVelocity;
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float maxRotation;
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float maxThrottle;
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} _params;
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private:
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int _vehicleGlobalPositionSub; /**< notification of global position */
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int _vehicleStatusSub;
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int _actuatorsSub;
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int _armingSub;
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int _parameterSub;
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int _attitudeSub;
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struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */
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struct vehicle_status_s _vehicleStatus;
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struct actuator_controls_s _actuators;
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struct actuator_armed_s _arming;
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struct vehicle_attitude_s _vehicleAttitude;
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uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
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};
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#endif //__MULTICOPTER_LAND_DETECTOR_H__
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