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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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BazookaJoe1900
130 lines
4.7 KiB
C++
130 lines
4.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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 MulticopterHoverThrustEstimator.hpp
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* @brief Interface class for a hover thrust estimator
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* Convention is positive thrust, hover thrust and acceleration UP
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*
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* @author Mathieu Bresciani <brescianimathieu@gmail.com>
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*/
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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/hysteresis/hysteresis.h>
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#include <lib/perf/perf_counter.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/posix.h>
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#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/topics/hover_thrust_estimate.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/vehicle_land_detected.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/vehicle_status.h>
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#include "zero_order_hover_thrust_ekf.hpp"
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using namespace time_literals;
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class MulticopterHoverThrustEstimator : public ModuleBase<MulticopterHoverThrustEstimator>, public ModuleParams,
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public px4::WorkItem
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{
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public:
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MulticopterHoverThrustEstimator();
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~MulticopterHoverThrustEstimator() override;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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/** @see ModuleBase::print_status() */
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int print_status() override;
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private:
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void Run() override;
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void updateParams() override;
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void reset();
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void publishStatus(const hrt_abstime ×tamp_sample);
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void publishInvalidStatus();
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ZeroOrderHoverThrustEkf _hover_thrust_ekf{};
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uORB::Publication<hover_thrust_estimate_s> _hover_thrust_ekf_pub{ORB_ID(hover_thrust_estimate)};
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uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
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uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
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uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
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hrt_abstime _timestamp_last{0};
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bool _armed{false};
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bool _landed{false};
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bool _in_air{false};
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bool _valid{false};
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systemlib::Hysteresis _valid_hysteresis{false};
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perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::HTE_HT_NOISE>) _param_hte_ht_noise,
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(ParamFloat<px4::params::HTE_ACC_GATE>) _param_hte_acc_gate,
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(ParamFloat<px4::params::HTE_HT_ERR_INIT>) _param_hte_ht_err_init,
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(ParamFloat<px4::params::HTE_THR_RANGE>) _param_hte_thr_range,
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(ParamFloat<px4::params::HTE_VXY_THR>) _param_hte_vxy_thr,
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(ParamFloat<px4::params::HTE_VZ_THR>) _param_hte_vz_thr,
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(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover
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)
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};
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