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95 lines
2.9 KiB
C++
95 lines
2.9 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 VtolLandDetector.h
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* Land detection algorithm for vtol
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*
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* @author Roman Bapst <bapstr@gmail.com>
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*/
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#ifndef __VTOL_LAND_DETECTOR_H__
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#define __VTOL_LAND_DETECTOR_H__
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#include "MulticopterLandDetector.h"
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#include <uORB/topics/airspeed.h>
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class VtolLandDetector : public MulticopterLandDetector
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{
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public:
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VtolLandDetector();
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private:
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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() override;
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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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/**
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* @brief download and update local parameter cache
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**/
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void updateParameterCache(const bool force) override;
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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 maxAirSpeed;
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} _paramHandle;
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struct {
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float maxAirSpeed;
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} _params;
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int _airspeedSub;
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int _parameterSub;
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struct airspeed_s _airspeed;
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bool _was_in_air; /**< indicates whether the vehicle was in the air in the previous iteration */
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float _airspeed_filtered; /**< low pass filtered airspeed */
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};
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#endif
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