mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-03 17:50:36 +08:00
Emmanuel Roussel
124 lines
3.7 KiB
C++
124 lines
3.7 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 VtolLandDetector.cpp
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* Land detection algorithm for VTOL
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*
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* @author Roman Bapst <bapstroma@gmail.com>
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*/
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#include "VtolLandDetector.h"
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#include <drivers/drv_hrt.h>
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namespace landdetection
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{
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VtolLandDetector::VtolLandDetector() : MulticopterLandDetector(),
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_paramHandle(),
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_params(),
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_airspeedSub(-1),
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_parameterSub(-1),
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_airspeed{},
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_was_in_air(false),
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_airspeed_filtered(0)
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{
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_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
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}
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void VtolLandDetector::initialize()
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{
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MulticopterLandDetector::initialize();
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_airspeedSub = orb_subscribe(ORB_ID(airspeed));
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// download parameters
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updateParameterCache(true);
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}
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void VtolLandDetector::updateSubscriptions()
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{
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MulticopterLandDetector::updateSubscriptions();
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orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
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}
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LandDetectionResult VtolLandDetector::update()
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{
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updateSubscriptions();
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updateParameterCache(false);
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// this is returned from the mutlicopter land detector
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bool landed = get_landed_state();
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// for vtol we additionally consider airspeed
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if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {
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_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
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} else {
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// if airspeed does not update, set it to zero and rely on multicopter land detector
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_airspeed_filtered = 0.0f;
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}
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// only consider airspeed if we have been in air before to avoid false
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// detections in the case of wind on the ground
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if (_was_in_air && _airspeed_filtered > _params.maxAirSpeed) {
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landed = false;
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}
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_was_in_air = !landed;
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_state = (landed) ? LANDDETECTION_RES_LANDED : LANDDETECTION_RES_FLYING;
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return _state;
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}
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void VtolLandDetector::updateParameterCache(const bool force)
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{
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MulticopterLandDetector::updateParameterCache(force);
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bool updated;
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parameter_update_s paramUpdate;
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orb_check(_parameterSub, &updated);
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if (updated) {
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orb_copy(ORB_ID(parameter_update), _parameterSub, ¶mUpdate);
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}
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if (updated || force) {
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param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
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}
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}
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}
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