mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 02:33:33 +08:00
141 lines
4.2 KiB
C++
141 lines
4.2 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
|
|
*
|
|
* Redistribution and use in source and binary forms, with or without
|
|
* modification, are permitted provided that the following conditions
|
|
* are met:
|
|
*
|
|
* 1. Redistributions of source code must retain the above copyright
|
|
* notice, this list of conditions and the following disclaimer.
|
|
* 2. Redistributions in binary form must reproduce the above copyright
|
|
* notice, this list of conditions and the following disclaimer in
|
|
* the documentation and/or other materials provided with the
|
|
* distribution.
|
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
|
* used to endorse or promote products derived from this software
|
|
* without specific prior written permission.
|
|
*
|
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
* POSSIBILITY OF SUCH DAMAGE.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @file MulticopterLandDetector.h
|
|
* Land detection algorithm for multicopters
|
|
*
|
|
* @author Johan Jansen <jnsn.johan@gmail.com>
|
|
* @author Morten Lysgaard <morten@lysgaard.no>
|
|
*/
|
|
|
|
#ifndef __MULTICOPTER_LAND_DETECTOR_H__
|
|
#define __MULTICOPTER_LAND_DETECTOR_H__
|
|
|
|
#include "LandDetector.h"
|
|
#include <uORB/topics/vehicle_local_position.h>
|
|
#include <uORB/topics/vehicle_attitude.h>
|
|
#include <uORB/topics/vehicle_status.h>
|
|
#include <uORB/topics/actuator_controls.h>
|
|
#include <uORB/topics/actuator_armed.h>
|
|
#include <uORB/topics/parameter_update.h>
|
|
#include <uORB/topics/manual_control_setpoint.h>
|
|
#include <uORB/topics/control_state.h>
|
|
#include <systemlib/param/param.h>
|
|
|
|
namespace landdetection
|
|
{
|
|
|
|
class MulticopterLandDetector : public LandDetector
|
|
{
|
|
public:
|
|
MulticopterLandDetector();
|
|
|
|
protected:
|
|
/**
|
|
* @brief polls all subscriptions and pulls any data that has changed
|
|
**/
|
|
virtual void updateSubscriptions();
|
|
|
|
/**
|
|
* @brief Runs one iteration of the land detection algorithm
|
|
**/
|
|
virtual LandDetectionResult update() override;
|
|
|
|
/**
|
|
* @brief Initializes the land detection algorithm
|
|
**/
|
|
virtual void initialize() override;
|
|
|
|
/**
|
|
* @brief download and update local parameter cache
|
|
**/
|
|
virtual void updateParameterCache(const bool force);
|
|
|
|
/**
|
|
* @brief get multicopter landed state
|
|
**/
|
|
bool get_landed_state();
|
|
|
|
/**
|
|
* @brief returns true if multicopter is in free-fall state
|
|
**/
|
|
bool get_freefall_state();
|
|
|
|
private:
|
|
|
|
/**
|
|
* @brief Handles for interesting parameters
|
|
**/
|
|
struct {
|
|
param_t maxClimbRate;
|
|
param_t maxVelocity;
|
|
param_t maxRotation;
|
|
param_t maxThrottle;
|
|
param_t acc_threshold_m_s2;
|
|
param_t ff_trigger_time_ms;
|
|
} _paramHandle;
|
|
|
|
struct {
|
|
float maxClimbRate;
|
|
float maxVelocity;
|
|
float maxRotation_rad_s;
|
|
float maxThrottle;
|
|
float acc_threshold_m_s2;
|
|
uint32_t ff_trigger_time_ms;
|
|
} _params;
|
|
|
|
private:
|
|
int _vehicleLocalPositionSub;
|
|
int _actuatorsSub;
|
|
int _armingSub;
|
|
int _parameterSub;
|
|
int _attitudeSub;
|
|
int _manualSub;
|
|
int _ctrl_state_sub;
|
|
|
|
struct vehicle_local_position_s _vehicleLocalPosition;
|
|
struct actuator_controls_s _actuators;
|
|
struct actuator_armed_s _arming;
|
|
struct vehicle_attitude_s _vehicleAttitude;
|
|
struct manual_control_setpoint_s _manual;
|
|
struct control_state_s _ctrl_state;
|
|
|
|
uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
|
|
uint64_t _freefallTimer; /**< timestamp in microseconds since a possible freefall was detected*/
|
|
};
|
|
|
|
}
|
|
|
|
#endif //__MULTICOPTER_LAND_DETECTOR_H__
|