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125 lines
3.6 KiB
C++
125 lines
3.6 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 LandDetector.cpp
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* Land detection algorithm
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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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*/
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#include "LandDetector.h"
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#include <unistd.h> //usleep
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#include <drivers/drv_hrt.h>
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LandDetector::LandDetector() :
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_landDetectedPub(0),
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_landDetected({0, false}),
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_arming_time(0),
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_taskShouldExit(false),
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_taskIsRunning(false)
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{
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// ctor
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}
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LandDetector::~LandDetector()
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{
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_taskShouldExit = true;
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}
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void LandDetector::shutdown()
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{
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_taskShouldExit = true;
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}
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void LandDetector::start()
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{
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// make sure this method has not already been called by another thread
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if (isRunning()) {
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return;
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}
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// advertise the first land detected uORB
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_landDetected.timestamp = hrt_absolute_time();
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_landDetected.landed = false;
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_landDetectedPub = (uintptr_t)orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
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// initialize land detection algorithm
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initialize();
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// task is now running, keep doing so until shutdown() has been called
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_taskIsRunning = true;
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_taskShouldExit = false;
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while (isRunning()) {
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bool landDetected = update();
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// publish if land detection state has changed
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if (_landDetected.landed != landDetected) {
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_landDetected.timestamp = hrt_absolute_time();
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_landDetected.landed = landDetected;
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// publish the land detected broadcast
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orb_publish(ORB_ID(vehicle_land_detected), (orb_advert_t)_landDetectedPub, &_landDetected);
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}
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// limit loop rate
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usleep(1000000 / LAND_DETECTOR_UPDATE_RATE);
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}
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_taskIsRunning = false;
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_exit(0);
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}
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bool LandDetector::orb_update(const struct orb_metadata *meta, int handle, void *buffer)
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{
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bool newData = false;
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// check if there is new data to grab
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if (orb_check(handle, &newData) != OK) {
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return false;
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}
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if (!newData) {
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return false;
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}
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if (orb_copy(meta, handle, buffer) != OK) {
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return false;
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}
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return true;
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}
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