ardupilot/libraries/AP_Landing/AP_Landing_Deepstall.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Param/AP_Param.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Common/AP_Common.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_Navigation/AP_Navigation.h>
#include <GCS_MAVLink/GCS.h>
#include <PID/PID.h>
class AP_Landing;
/// @class AP_Landing_Deepstall
/// @brief Class managing Plane Deepstall landing methods
class AP_Landing_Deepstall
{
private:
friend class AP_Landing;
// constructor
AP_Landing_Deepstall(AP_Landing &_landing) :
landing(_landing)
{
AP_Param::setup_object_defaults(this, var_info);
}
AP_Landing &landing;
static const struct AP_Param::GroupInfo var_info[];
// deepstall members
enum deepstall_stage {
DEEPSTALL_STAGE_FLY_TO_LANDING, // fly to the deepstall landing point
DEEPSTALL_STAGE_ESTIMATE_WIND, // loiter until we have a decent estimate of the wind for the target altitude
DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT, // wait until the aircraft is aligned for the optimal breakout
DEEPSTALL_STAGE_FLY_TO_ARC, // fly to the start of the arc
DEEPSTALL_STAGE_ARC, // fly the arc
DEEPSTALL_STAGE_APPROACH, // fly the approach in, and prepare to deepstall when close
DEEPSTALL_STAGE_LAND, // the aircraft will stall torwards the ground while targeting a given point
};
AP_Float forward_speed;
AP_Float slope_a;
AP_Float slope_b;
AP_Float approach_extension;
AP_Float down_speed;
AP_Float slew_speed;
AP_Int16 elevator_pwm;
AP_Float handoff_airspeed;
AP_Float handoff_lower_limit_airspeed;
AP_Float L1_period;
AP_Float L1_i;
AP_Float yaw_rate_limit;
AP_Float time_constant;
AP_Float min_abort_alt;
AP_Float aileron_scalar;
int32_t loiter_sum_cd; // used for tracking the progress on loitering
deepstall_stage stage;
Location landing_point;
Location extended_approach;
Location breakout_location;
Location arc;
Location arc_entry;
Location arc_exit;
float target_heading_deg; // target heading for the deepstall in degrees
uint32_t stall_entry_time; // time when the aircrafted enter the stall (in millis)
uint16_t initial_elevator_pwm; // PWM to start slewing the elevator up from
uint32_t last_time; // last time the controller ran
float L1_xtrack_i; // L1 integrator for navigation
PID ds_PID;
int32_t last_target_bearing; // used for tracking the progress on loitering
float crosstrack_error; // current crosstrack error
float predicted_travel_distance; // distance the aircraft is perdicted to travel during deepstall
bool hold_level; // locks the target yaw rate of the aircraft to 0, serves to hold the aircraft level at all times
float approach_alt_offset; // approach altitude offset
//public AP_Landing interface
void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
void verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed);
bool verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms,
const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc,
const Location &current_loc, int32_t &target_altitude_offset_cm);
bool override_servos(void);
bool request_go_around(void);
bool get_target_altitude_location(Location &location);
int32_t get_target_airspeed_cm(void) const;
bool is_throttle_suppressed(void) const;
bool is_flying_forward(void) const;
bool is_on_approach(void) const;
bool terminate(void);
void log(void) const;
bool send_deepstall_message(mavlink_channel_t chan) const;
const DataFlash_Class::PID_Info& get_pid_info(void) const;
//private helpers
void build_approach_path(bool use_current_heading);
float predict_travel_distance(const Vector3f wind, const float height, const bool print);
bool verify_breakout(const Location &current_loc, const Location &target_loc, const float height_error) const;
float update_steering(void);
#define DEEPSTALL_LOITER_ALT_TOLERANCE 5.0f
};