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f9794e99f8
* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
151 lines
5.8 KiB
C++
151 lines
5.8 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2013-2016 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 MulticopterLandDetector.h
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* Land detection implementation for multicopters.
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*
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* @author Johan Jansen <jnsn.johan@gmail.com>
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* @author Morten Lysgaard <morten@lysgaard.no>
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* @author Julian Oes <julian@oes.ch>
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*/
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#pragma once
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/vehicle_angular_velocity.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_control_mode.h>
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#include <uORB/topics/vehicle_local_position_setpoint.h>
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#include <uORB/topics/hover_thrust_estimate.h>
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#include "LandDetector.h"
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using namespace time_literals;
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namespace land_detector
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{
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class MulticopterLandDetector : public LandDetector
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{
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public:
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MulticopterLandDetector();
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~MulticopterLandDetector() override = default;
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protected:
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void _update_params() override;
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void _update_topics() override;
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bool _get_landed_state() override;
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bool _get_ground_contact_state() override;
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bool _get_maybe_landed_state() override;
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bool _get_freefall_state() override;
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bool _get_ground_effect_state() override;
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float _get_max_altitude() override;
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private:
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/** Get control mode dependent pilot throttle threshold with which we should quit landed state and take off. */
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float _get_takeoff_throttle();
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bool _has_low_thrust();
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bool _has_minimal_thrust();
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bool _has_altitude_lock();
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bool _has_position_lock();
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bool _is_climb_rate_enabled();
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/** Time in us that landing conditions have to hold before triggering a land. */
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static constexpr hrt_abstime LAND_DETECTOR_TRIGGER_TIME_US = 300_ms;
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/** Time in us that almost landing conditions have to hold before triggering almost landed . */
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static constexpr hrt_abstime MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms;
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/** Time in us that ground contact condition have to hold before triggering contact ground */
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static constexpr hrt_abstime GROUND_CONTACT_TRIGGER_TIME_US = 350_ms;
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/** Time interval in us in which wider acceptance thresholds are used after landed. */
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static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;
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/** Handles for interesting parameters. **/
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struct {
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param_t minThrottle;
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param_t hoverThrottle;
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param_t minManThrottle;
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param_t landSpeed;
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param_t useHoverThrustEstimate;
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} _paramHandle{};
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struct {
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float minThrottle;
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float hoverThrottle;
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float minManThrottle;
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float landSpeed;
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bool useHoverThrustEstimate;
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} _params{};
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uORB::Subscription _actuator_controls_sub{ORB_ID(actuator_controls_0)};
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uORB::Subscription _battery_sub{ORB_ID(battery_status)};
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uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
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uORB::Subscription _vehicle_angular_velocity_sub{ORB_ID(vehicle_angular_velocity)};
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uORB::Subscription _vehicle_control_mode_sub{ORB_ID(vehicle_control_mode)};
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uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
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uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
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uORB::Subscription _hover_thrust_estimate_sub{ORB_ID(hover_thrust_estimate)};
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actuator_controls_s _actuator_controls {};
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battery_status_s _battery_status {};
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vehicle_angular_velocity_s _vehicle_angular_velocity{};
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vehicle_control_mode_s _vehicle_control_mode {};
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vehicle_local_position_setpoint_s _vehicle_local_position_setpoint {};
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hrt_abstime _min_trust_start{0}; ///< timestamp when minimum trust was applied first
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hrt_abstime _landed_time{0};
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bool _in_descend{false}; ///< vehicle is desending
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bool _horizontal_movement{false}; ///< vehicle is moving horizontally
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DEFINE_PARAMETERS_CUSTOM_PARENT(
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LandDetector,
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(ParamFloat<px4::params::LNDMC_ALT_MAX>) _param_lndmc_alt_max,
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(ParamFloat<px4::params::LNDMC_FFALL_THR>) _param_lndmc_ffall_thr,
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(ParamFloat<px4::params::LNDMC_FFALL_TTRI>) _param_lndmc_ffall_ttri,
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(ParamFloat<px4::params::LNDMC_LOW_T_THR>) _param_lndmc_low_t_thr,
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(ParamFloat<px4::params::LNDMC_ROT_MAX>) _param_lndmc_rot_max,
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(ParamFloat<px4::params::LNDMC_XY_VEL_MAX>) _param_lndmc_xy_vel_max,
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(ParamFloat<px4::params::LNDMC_Z_VEL_MAX>) _param_lndmc_z_vel_max
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);
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};
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} // namespace land_detector
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