Land detector: Add mode for rovers

posix-configs/SITL/init/ekf2/rover

@@ -24,14 +24,19 @@ param set SENS_DPRES_OFF 0.001
 param set SENS_BOARD_X_OFF 0.000001
 param set COM_RC_IN_MODE 1
 param set NAV_DLL_ACT 2
-param set NAV_ACC_RAD 15.0
-param set NAV_LOITER_RAD 50
-param set MIS_LTRMIN_ALT 30
-param set MIS_TAKEOFF_ALT 30
-param set FW_THR_IDLE 0.8
+param set NAV_ACC_RAD 2.0
+param set NAV_LOITER_RAD 10
+param set MIS_LTRMIN_ALT 0.01
+param set MIS_TAKEOFF_ALT 0.01
+param set FW_THR_IDLE 0.0
 param set EKF2_GBIAS_INIT 0.01
 param set EKF2_ANGERR_INIT 0.01
 param set EKF2_MAG_TYPE 1
+param set FW_AIRSPD_MIN 0
+param set FW_AIRSPD_TRIM 6
+param set FW_AIRSPD_MAX 8
+param set FW_PR_I 0.0
+param set FW_RR_I 0.0
 replay tryapplyparams
 simulator start -s
 tone_alarm start

src/modules/land_detector/CMakeLists.txt

@@ -41,6 +41,7 @@ px4_add_module(
 		MulticopterLandDetector.cpp
 		FixedwingLandDetector.cpp
 		VtolLandDetector.cpp
+		RoverLandDetector.cpp
 	DEPENDS
 		platforms__common
 	)

src/modules/land_detector/LandDetector.h

@@ -44,6 +44,7 @@ Land detector interface for multicopter, fixedwing and VTOL implementations.
 
 #include <px4_workqueue.h>
 #include <systemlib/hysteresis/hysteresis.h>
+#include <systemlib/param/param.h>
 #include <uORB/uORB.h>
 #include <uORB/topics/vehicle_land_detected.h>
 

src/modules/land_detector/RoverLandDetector.cpp

@@ -0,0 +1,80 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2017 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 RoverLandDetector.cpp
+ * Land detection algorithm for Rovers
+ *
+ * @author Roman Bapst <bapstroma@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#include <drivers/drv_hrt.h>
+
+#include "RoverLandDetector.h"
+
+namespace land_detector
+{
+
+RoverLandDetector::RoverLandDetector() : LandDetector()
+{
+}
+
+void RoverLandDetector::_initialize_topics()
+{
+}
+
+void RoverLandDetector::_update_topics()
+{
+}
+
+bool RoverLandDetector::_get_ground_contact_state()
+{
+	return false;
+}
+
+bool RoverLandDetector::_get_landed_state()
+{
+	return false;
+}
+
+bool RoverLandDetector::_get_freefall_state()
+{
+	return false;
+}
+
+void RoverLandDetector::_update_params()
+{
+}
+
+}

src/modules/land_detector/RoverLandDetector.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2017 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 RoverLandDetector.h
+ * Land detection implementation for VTOL also called hybrids.
+ *
+ * @author Roman Bapst <bapstr@gmail.com>
+ * @author Julian Oes <julian@oes.ch>
+ */
+
+#pragma once
+
+#include <uORB/topics/airspeed.h>
+
+#include "LandDetector.h"
+
+namespace land_detector
+{
+
+class RoverLandDetector : public LandDetector
+{
+public:
+	RoverLandDetector();
+
+protected:
+	virtual void _initialize_topics() override;
+
+	virtual void _update_params() override;
+
+	virtual void _update_topics() override;
+
+	virtual bool _get_landed_state() override;
+
+	virtual bool  _get_ground_contact_state() override;
+
+	virtual bool _get_freefall_state() override;
+
+private:
+};
+
+
+} // namespace land_detector

src/modules/land_detector/land_detector_main.cpp

@@ -55,6 +55,7 @@
 #include "FixedwingLandDetector.h"
 #include "MulticopterLandDetector.h"
 #include "VtolLandDetector.h"
+#include "RoverLandDetector.h"
 
 
 namespace land_detector
@@ -122,6 +123,9 @@ static int land_detector_start(const char *mode)
 	} else if (!strcmp(mode, "vtol")) {
 		land_detector_task = new VtolLandDetector();
 
+	} else if (!strcmp(mode, "rover")) {
+		land_detector_task = new RoverLandDetector();
+
 	} else {
 		PX4_WARN("[mode] must be either 'fixedwing', 'multicopter', or 'vtol'");
 		return -1;