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162 lines
4.0 KiB
C
162 lines
4.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014, 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 land_detector.c
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* Land detector algorithm parameters.
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*
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* @author Johan Jansen <jnsn.johan@gmail.com>
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*/
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/**
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* Multicopter max climb rate
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*
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* Maximum vertical velocity allowed in the landed state (m/s up and down)
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*
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* @unit m/s
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.70f);
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/**
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* Multicopter max horizontal velocity
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*
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* Maximum horizontal velocity allowed in the landed state (m/s)
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*
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* @unit m/s
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);
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/**
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* Multicopter max rotation
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*
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* Maximum allowed angular velocity around each axis allowed in the landed state.
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*
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* @unit deg/s
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
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/**
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* Multicopter max throttle
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*
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* Maximum actuator output on throttle allowed in the landed state
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*
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* @min 0.1
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* @max 0.5
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.15f);
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/**
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* Multicopter specific force threshold
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*
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* Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
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*
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* @min 0.1
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* @max 10
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
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/**
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* Multicopter free-fall trigger time
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*
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* milliseconds that freefall conditions have to hold before triggering a freefall
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*
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* @min 20
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* @max 5000
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_INT32(LNDMC_FFALL_TRIG,
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300); //minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
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/**
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* Fixedwing max horizontal velocity
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*
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* Maximum horizontal velocity allowed in the landed state (m/s)
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*
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* @unit m/s
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* @min 0.5
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* @max 10
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
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/**
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* Fixedwing max climb rate
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*
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* Maximum vertical velocity allowed in the landed state (m/s up and down)
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*
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* @unit m/s
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* @min 5
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* @max 20
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
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/**
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* Fixedwing max short-term velocity
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*
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* Maximum velocity integral in flight direction allowed in the landed state (m/s)
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*
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* @unit m/s
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* @min 2
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* @max 10
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);
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/**
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* Airspeed max
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*
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* Maximum airspeed allowed in the landed state (m/s)
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*
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* @unit m/s
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* @min 4
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* @max 20
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*
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* @group Land Detector
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*/
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PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);
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