mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-13 14:47:36 +08:00
Daniel Agar
f5f2897486
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing - ground contact MC NAN setpoint workaround - ground contact additionally check acceleration setpoint - schedule with vehicle_local_position updates (most updates require valid local position) - don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED - ground contact horizontal movement checks default to failed if estimates aren't available
63 lines
2.3 KiB
C++
63 lines
2.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2017 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 RoverLandDetector.cpp
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* Land detection algorithm for Rovers
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*
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* @author Roman Bapst <bapstroma@gmail.com>
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* @author Julian Oes <julian@oes.ch>
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*/
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#include "RoverLandDetector.h"
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namespace land_detector
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{
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bool RoverLandDetector::_get_ground_contact_state()
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{
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return true;
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}
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bool RoverLandDetector::_get_landed_state()
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{
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if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
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return true; // If Landing has been requested then say we have landed.
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} else {
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return !_armed; // If we are armed we are not landed.
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}
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}
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} // namespace land_detector
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