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90 lines
3.2 KiB
C++
90 lines
3.2 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 FixedwingLandDetector.h
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* Land detector implementation for fixedwing.
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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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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <matrix/math.hpp>
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/launch_detection_status.h>
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#include "LandDetector.h"
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using namespace time_literals;
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namespace land_detector
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{
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class FixedwingLandDetector final : public LandDetector
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{
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public:
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FixedwingLandDetector();
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~FixedwingLandDetector() override = default;
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protected:
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bool _get_landed_state() override;
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void _set_hysteresis_factor(const int factor) override {};
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private:
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static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;
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uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
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uORB::Subscription _launch_detection_status_sub{ORB_ID(launch_detection_status)};
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float _airspeed_filtered{0.0f};
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float _velocity_xy_filtered{0.0f};
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float _velocity_z_filtered{0.0f};
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float _xy_accel_filtered{0.0f};
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DEFINE_PARAMETERS_CUSTOM_PARENT(
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LandDetector,
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(ParamFloat<px4::params::LNDFW_XYACC_MAX>) _param_lndfw_xyaccel_max,
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(ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd,
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(ParamFloat<px4::params::LNDFW_VEL_XY_MAX>) _param_lndfw_vel_xy_max,
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(ParamFloat<px4::params::LNDFW_VEL_Z_MAX>) _param_lndfw_vel_z_max,
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(ParamFloat<px4::params::LNDFW_TRIG_TIME>) _param_lndfw_trig_time
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);
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};
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} // namespace land_detector
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