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130 lines
4.4 KiB
C++
130 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 FixedwingLandDetector.cpp
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*
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* @author Johan Jansen <jnsn.johan@gmail.com>
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* @author Lorenz Meier <lorenz@px4.io>
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* @author Julian Oes <julian@oes.ch>
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*/
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#include <matrix/math.hpp>
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#include "FixedwingLandDetector.h"
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namespace land_detector
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{
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FixedwingLandDetector::FixedwingLandDetector()
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{
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// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
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_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
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_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
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}
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void FixedwingLandDetector::_update_topics()
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{
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_airspeed_sub.update(&_airspeed);
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_vehicle_acceleration_sub.update(&_vehicle_acceleration);
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_vehicle_local_position_sub.update(&_vehicle_local_position);
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}
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void FixedwingLandDetector::_update_params()
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{
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parameter_update_s param_update;
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if (_param_update_sub.update(¶m_update)) {
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_update_params();
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}
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}
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float FixedwingLandDetector::_get_max_altitude()
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{
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// TODO
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// This means no altitude limit as the limit
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// is always current position plus 10000 meters
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return roundf(-_vehicle_local_position.z + 10000);
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}
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bool FixedwingLandDetector::_get_landed_state()
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{
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// only trigger flight conditions if we are armed
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if (!_actuator_armed.armed) {
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return true;
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}
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bool landDetected = false;
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if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500_ms) {
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// Horizontal velocity complimentary filter.
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float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
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_vehicle_local_position.vy * _vehicle_local_position.vy);
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if (PX4_ISFINITE(val)) {
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_velocity_xy_filtered = val;
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}
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// Vertical velocity complimentary filter.
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val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicle_local_position.vz);
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if (PX4_ISFINITE(val)) {
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_velocity_z_filtered = val;
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}
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_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
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// A leaking lowpass prevents biases from building up, but
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// gives a mostly correct response for short impulses.
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const matrix::Vector3f accel{_vehicle_acceleration.xyz};
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const float acc_hor = sqrtf(accel(0) * accel(0) + accel(1) * accel(1));
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_xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f;
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// crude land detector for fixedwing
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landDetected = _xy_accel_filtered < _param_lndfw_xyaccel_max.get()
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&& _airspeed_filtered < _param_lndfw_airspd.get()
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&& _velocity_xy_filtered < _param_lndfw_vel_xy_max.get()
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&& _velocity_z_filtered < _param_lndfw_vel_z_max.get();
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} else {
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// Control state topic has timed out and we need to assume we're landed.
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landDetected = true;
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}
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return landDetected;
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}
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} // namespace land_detector
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