mirror of https://github.com/ArduPilot/ardupilot
AP_Landing: add logging as new "LAND" field
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644f75942b
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@ -143,6 +143,8 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
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void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
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{
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log(); // log old state so we get a nice transition from old to new here
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flags.commanded_go_around = false;
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switch (type) {
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@ -153,6 +155,8 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
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// a incorrect type is handled in the verify_land
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break;
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}
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log();
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}
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/*
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@ -162,16 +166,22 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
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bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc,
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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)
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{
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bool success = true;
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_verify_land(prev_WP_loc, next_WP_loc, current_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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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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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Landing configuration error, invalid LAND_TYPE");
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return true;
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success = true;
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break;
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}
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log();
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return success;
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}
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@ -196,6 +206,8 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
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// else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
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}
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log();
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// make sure to always return false so it leaves the mission index alone
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return false;
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}
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@ -326,6 +338,8 @@ bool AP_Landing::restart_landing_sequence()
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// exit landing stages if we're no longer executing NAV_LAND
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update_flight_stage_fn();
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}
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log();
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return success;
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}
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@ -390,18 +404,26 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
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*/
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bool AP_Landing::request_go_around(void)
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{
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bool success = false;
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_request_go_around();
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success = type_slope_request_go_around();
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break;
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default:
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return false;
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break;
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}
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log();
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return success;
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}
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void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
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{
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log(); // log old value to plot discrete transitions
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flags.in_progress = _in_landing_stage;
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flags.commanded_go_around = false;
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log();
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}
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/*
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@ -417,4 +439,14 @@ bool AP_Landing::is_complete(void) const
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}
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}
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void AP_Landing::log(void) const
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{
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switch (type) {
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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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default:
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break;
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}
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}
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@ -100,6 +100,7 @@ public:
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bool is_complete(void) const;
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void set_initial_slope(void) { initial_slope = slope; }
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bool is_expecting_impact(void) const;
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void log(void) const;
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// landing altitude offset (meters)
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float alt_offset;
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@ -178,6 +179,7 @@ private:
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void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
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int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
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bool type_slope_request_go_around(void);
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void type_slope_log(void) const;
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bool type_slope_is_complete(void) const;
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bool type_slope_is_flaring(void) const;
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bool type_slope_is_on_approach(void) const;
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@ -201,6 +201,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
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alt_offset = rangefinder_state.correction;
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flags.commanded_go_around = true;
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type_slope_flags.has_aborted_due_to_slope_recalc = true; // only allow this once.
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log();
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}
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}
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}
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@ -375,3 +376,15 @@ bool AP_Landing::type_slope_is_complete(void) const
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return (type_slope_stage == SLOPE_STAGE_FINAL);
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}
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void AP_Landing::type_slope_log(void) const
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{
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// log to DataFlash
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DataFlash_Class::instance()->Log_Write("LAND", "TimeUS,stage,f1,f2,slope,slopeInit,altO", "QBBBfff",
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AP_HAL::micros64(),
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type_slope_stage,
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flags,
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type_slope_flags,
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slope,
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initial_slope,
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alt_offset);
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}
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