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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-29 15:43:35 +08:00
Silvan Fuhrer
75ce550db3
Avoid flying into terrain using the distance sensor. Enable through the parameter NAV_MIN_GND_DIST. Only active during commanded descents with vz>0 (to prevent climb-aways), excluding landing and VTOL transitions. It changes the altitude setpoint in the triplet to maintain the current altitude and republish the triplet. We also change the mission item altitude used for acceptance calculations to prevent getting stuck in a loop. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
208 lines
5.2 KiB
C
208 lines
5.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014-2016 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 navigator_params.c
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*
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* Parameters for navigator in general
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*
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* @author Julian Oes <julian@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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*/
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/**
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* Loiter radius (FW only)
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*
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* Default value of loiter radius in FW mode (e.g. for Loiter mode).
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*
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* @unit m
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* @min 25
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* @max 1000
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 80.0f);
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/**
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* Acceptance Radius
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*
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* Default acceptance radius, overridden by acceptance radius of waypoint if set.
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* For fixed wing the npfg switch distance is used for horizontal acceptance.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
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/**
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* FW Altitude Acceptance Radius
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*
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* Acceptance radius for fixedwing altitude.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_FW_ALT_RAD, 10.0f);
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/**
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* FW Altitude Acceptance Radius before a landing
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*
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* Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
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* than the standard vertical acceptance because close to the ground higher accuracy is required.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_FW_ALTL_RAD, 5.0f);
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/**
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* MC Altitude Acceptance Radius
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*
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* Acceptance radius for multicopter altitude.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 0.8f);
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/**
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* Set traffic avoidance mode
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*
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* Enabling this will allow the system to respond
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* to transponder data from e.g. ADSB transponders
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*
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* @value 0 Disabled
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* @value 1 Warn only
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* @value 2 Return mode
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* @value 3 Land mode
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* @value 4 Position Hold mode
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*
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_TRAFF_AVOID, 1);
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/**
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* Set NAV TRAFFIC AVOID horizontal distance
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*
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* Defines a crosstrack horizontal distance
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*
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* @unit m
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* @min 500
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*
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_TRAFF_A_HOR, 500);
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/**
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* Set NAV TRAFFIC AVOID vertical distance
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*
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*
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* @unit m
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* @min 10
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* @max 500
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*
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_TRAFF_A_VER, 500);
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/**
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* Estimated time until collision
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*
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* Minimum acceptable time until collsion.
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* Assumes constant speed over 3d distance.
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*
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* @unit s
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* @min 1
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* @max 900000000
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_TRAFF_COLL_T, 60);
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/**
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* Force VTOL mode takeoff and land
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*
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* @boolean
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_FORCE_VT, 1);
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/**
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* Minimum Loiter altitude
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*
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* This is the minimum altitude above Home the system will always obey in Loiter (Hold) mode if switched into this
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* mode without specifying an altitude (e.g. through Loiter switch on RC).
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* Doesn't affect Loiters that are part of Missions or that are entered through a reposition setpoint ("Go to").
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* Set to a negative value to disable.
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*
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* @unit m
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* @min -1
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_MIN_LTR_ALT, -1.f);
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/**
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* Minimum height above ground during Mission and RTL
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*
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* Minimum height above ground the vehicle is allowed to descend to during Mission and RTL,
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* excluding landing commands.
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* Requires a distance sensor to be set up.
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* Note: only prevents the vehicle from descending further, but does not force it to climb.
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*
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* Set to a negative value to disable.
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*
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* @unit m
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* @min -1
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* @decimal 1
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* @increment 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_MIN_GND_DIST, -1.f);
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