From 5f135acf33d6202cbd8b025e1ab1001389514a75 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 19 Feb 2017 01:15:33 +0100 Subject: [PATCH] Land detector: Add mode for rovers --- posix-configs/SITL/init/ekf2/rover | 15 ++-- src/modules/land_detector/CMakeLists.txt | 1 + src/modules/land_detector/LandDetector.h | 1 + .../land_detector/RoverLandDetector.cpp | 80 +++++++++++++++++++ src/modules/land_detector/RoverLandDetector.h | 73 +++++++++++++++++ .../land_detector/land_detector_main.cpp | 4 + 6 files changed, 169 insertions(+), 5 deletions(-) create mode 100644 src/modules/land_detector/RoverLandDetector.cpp create mode 100644 src/modules/land_detector/RoverLandDetector.h diff --git a/posix-configs/SITL/init/ekf2/rover b/posix-configs/SITL/init/ekf2/rover index a0a72d9446..a9e72d1426 100644 --- a/posix-configs/SITL/init/ekf2/rover +++ b/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 diff --git a/src/modules/land_detector/CMakeLists.txt b/src/modules/land_detector/CMakeLists.txt index 470e225373..4f10a0c382 100644 --- a/src/modules/land_detector/CMakeLists.txt +++ b/src/modules/land_detector/CMakeLists.txt @@ -41,6 +41,7 @@ px4_add_module( MulticopterLandDetector.cpp FixedwingLandDetector.cpp VtolLandDetector.cpp + RoverLandDetector.cpp DEPENDS platforms__common ) diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h index 19fa49bacc..99ff7ecd3f 100644 --- a/src/modules/land_detector/LandDetector.h +++ b/src/modules/land_detector/LandDetector.h @@ -44,6 +44,7 @@ Land detector interface for multicopter, fixedwing and VTOL implementations. #include #include +#include #include #include diff --git a/src/modules/land_detector/RoverLandDetector.cpp b/src/modules/land_detector/RoverLandDetector.cpp new file mode 100644 index 0000000000..c835df8f69 --- /dev/null +++ b/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 + * @author Julian Oes + */ + +#include + +#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() +{ +} + +} diff --git a/src/modules/land_detector/RoverLandDetector.h b/src/modules/land_detector/RoverLandDetector.h new file mode 100644 index 0000000000..2ff3e7739d --- /dev/null +++ b/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 + * @author Julian Oes + */ + +#pragma once + +#include + +#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 diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp index bafc68912b..5bf2d348e8 100644 --- a/src/modules/land_detector/land_detector_main.cpp +++ b/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;