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https://github.com/ArduPilot/ardupilot
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AP_Landing: enable deepstall landing to be compiled out of the code
This commit is contained in:
Peter Barker
Peter Barker
parent
765b71adb6
commit
a7ab766fda
@ -145,9 +145,11 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
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// @User: Standard
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AP_GROUPINFO("TYPE", 14, AP_Landing, type, TYPE_STANDARD_GLIDE_SLOPE),
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#if HAL_LANDING_DEEPSTALL_ENABLED
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// @Group: DS_
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// @Path: AP_Landing_Deepstall.cpp
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AP_SUBGROUPINFO(deepstall, "DS_", 15, AP_Landing, AP_Landing_Deepstall),
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#endif
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// @Param: OPTIONS
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// @DisplayName: Landing options bitmask
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@ -178,7 +180,9 @@ AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_
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,adjusted_relative_altitude_cm_fn(_adjusted_relative_altitude_cm_fn)
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,disarm_if_autoland_complete_fn(_disarm_if_autoland_complete_fn)
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,update_flight_stage_fn(_update_flight_stage_fn)
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#if HAL_LANDING_DEEPSTALL_ENABLED
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,deepstall(*this)
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#endif
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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@ -193,9 +197,11 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_do_land(cmd, relative_altitude);
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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deepstall.do_land(cmd, relative_altitude);
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break;
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#endif
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default:
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// a incorrect type is handled in the verify_land
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break;
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@ -218,10 +224,12 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
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success = type_slope_verify_land(prev_WP_loc, next_WP_loc, current_loc,
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height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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success = deepstall.verify_land(prev_WP_loc, next_WP_loc, current_loc,
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height, sink_rate, wp_proportion, last_flying_ms, is_armed, is_flying, rangefinder_state_in_range);
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break;
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#endif
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default:
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// returning TRUE while executing verify_land() will increment the
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// mission index which in many cases will trigger an RTL for end-of-mission
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@ -240,9 +248,11 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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deepstall.verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
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break;
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#endif
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default:
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break;
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}
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@ -274,7 +284,9 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, wp_distance, target_altitude_offset_cm);
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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#endif
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default:
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break;
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}
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@ -287,8 +299,10 @@ bool AP_Landing::send_landing_message(mavlink_channel_t chan) {
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}
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switch (type) {
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.send_deepstall_message(chan);
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#endif
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case TYPE_STANDARD_GLIDE_SLOPE:
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default:
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return false;
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@ -304,7 +318,9 @@ bool AP_Landing::is_flaring(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_flaring();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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#endif
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default:
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return false;
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}
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@ -324,8 +340,10 @@ bool AP_Landing::is_on_approach(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_on_approach();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.is_on_approach();
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#endif
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default:
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return false;
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}
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@ -341,8 +359,10 @@ bool AP_Landing::is_ground_steering_allowed(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_on_approach();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return false;
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#endif
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default:
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return true;
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}
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@ -359,7 +379,9 @@ bool AP_Landing::is_expecting_impact(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_expecting_impact();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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#endif
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default:
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return false;
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}
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@ -372,8 +394,10 @@ bool AP_Landing::override_servos(void) {
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}
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switch (type) {
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.override_servos();
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#endif
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case TYPE_STANDARD_GLIDE_SLOPE:
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default:
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return false;
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@ -385,8 +409,10 @@ bool AP_Landing::override_servos(void) {
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const AP_Logger::PID_Info* AP_Landing::get_pid_info(void) const
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{
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switch (type) {
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return &deepstall.get_pid_info();
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#endif
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case TYPE_STANDARD_GLIDE_SLOPE:
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default:
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return nullptr;
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@ -408,7 +434,9 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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#endif
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default:
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break;
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}
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@ -473,7 +501,9 @@ int32_t AP_Landing::constrain_roll(const int32_t desired_roll_cd, const int32_t
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_constrain_roll(desired_roll_cd, level_roll_limit_cd);
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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#endif
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default:
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return desired_roll_cd;
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}
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@ -487,8 +517,10 @@ bool AP_Landing::get_target_altitude_location(Location &location)
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}
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switch (type) {
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.get_target_altitude_location(location);
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#endif
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case TYPE_STANDARD_GLIDE_SLOPE:
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default:
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return false;
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@ -535,8 +567,10 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_get_target_airspeed_cm();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.get_target_airspeed_cm();
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#endif
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default:
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// don't return the landing airspeed, because if type is invalid we have
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// no postive indication that the land airspeed has been configured or
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@ -557,9 +591,11 @@ bool AP_Landing::request_go_around(void)
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case TYPE_STANDARD_GLIDE_SLOPE:
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success = type_slope_request_go_around();
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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success = deepstall.request_go_around();
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break;
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#endif
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default:
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break;
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}
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@ -584,8 +620,10 @@ bool AP_Landing::is_complete(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_complete();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return false;
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#endif
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default:
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return true;
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}
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@ -597,9 +635,11 @@ void AP_Landing::Log(void) const
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_log();
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break;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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deepstall.Log();
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break;
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#endif
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default:
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break;
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}
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@ -617,8 +657,10 @@ bool AP_Landing::is_throttle_suppressed(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_throttle_suppressed();
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.is_throttle_suppressed();
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#endif
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default:
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return false;
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}
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@ -640,8 +682,10 @@ bool AP_Landing::is_flying_forward(void) const
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}
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switch (type) {
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.is_flying_forward();
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#endif
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case TYPE_STANDARD_GLIDE_SLOPE:
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default:
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return true;
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@ -654,8 +698,10 @@ bool AP_Landing::is_flying_forward(void) const
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*/
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bool AP_Landing::terminate(void) {
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switch (type) {
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#if HAL_LANDING_DEEPSTALL_ENABLED
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case TYPE_DEEPSTALL:
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return deepstall.terminate();
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#endif
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case TYPE_STANDARD_GLIDE_SLOPE:
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default:
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return false;
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@ -52,7 +52,9 @@ public:
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// NOTE: make sure to update is_type_valid()
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enum Landing_Type {
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TYPE_STANDARD_GLIDE_SLOPE = 0,
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#if HAL_LANDING_DEEPSTALL_ENABLED
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TYPE_DEEPSTALL = 1,
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#endif
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// TODO: TYPE_PARACHUTE,
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// TODO: TYPE_HELICAL,
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};
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@ -143,8 +145,10 @@ private:
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disarm_if_autoland_complete_fn_t disarm_if_autoland_complete_fn;
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update_flight_stage_fn_t update_flight_stage_fn;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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// support for deepstall landings
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AP_Landing_Deepstall deepstall;
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#endif
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AP_Int16 pitch_cd;
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AP_Float flare_alt;
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@ -18,6 +18,9 @@
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*/
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#include "AP_Landing.h"
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#if HAL_LANDING_DEEPSTALL_ENABLED
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#include <GCS_MAVLink/GCS.h>
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#include <AP_HAL/AP_HAL.h>
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#include <SRV_Channel/SRV_Channel.h>
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@ -655,3 +658,5 @@ float AP_Landing_Deepstall::update_steering()
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return ds_PID.get_pid(error);
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}
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#endif // HAL_LANDING_DEEPSTALL_ENABLED
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@ -22,6 +22,10 @@
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#include <AP_Navigation/AP_Navigation.h>
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#include <PID/PID.h>
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#ifndef HAL_LANDING_DEEPSTALL_ENABLED
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#define HAL_LANDING_DEEPSTALL_ENABLED 1
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#endif
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class AP_Landing;
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/// @class AP_Landing_Deepstall
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