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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 21:30:35 +08:00
Daniel Agar
f5f2897486
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing - ground contact MC NAN setpoint workaround - ground contact additionally check acceleration setpoint - schedule with vehicle_local_position updates (most updates require valid local position) - don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED - ground contact horizontal movement checks default to failed if estimates aren't available
111 lines
4.1 KiB
C++
111 lines
4.1 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 "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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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 (!_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) < 1_s) {
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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_validated_s airspeed_validated{};
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_airspeed_validated_sub.copy(&airspeed_validated);
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// set _airspeed_filtered to 0 if airspeed data is invalid
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if (!PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) || hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
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_airspeed_filtered = 0.0f;
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} else {
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_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * airspeed_validated.true_airspeed_m_s;
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}
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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 float acc_hor = matrix::Vector2f(_acceleration).norm();
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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 = _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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&& _xy_accel_filtered < _param_lndfw_xyaccel_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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