ardupilot/ArduCopter/land_detector.pde

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
// counter to verify landings
static uint16_t land_detector = LAND_DETECTOR_TRIGGER; // we assume we are landed
// land_complete_maybe - return true if we may have landed (used to reset loiter targets during landing)
static bool land_complete_maybe()
{
return (ap.land_complete || ap.land_complete_maybe);
}
// update_land_detector - checks if we have landed and updates the ap.land_complete flag
// called at 50hz
static void update_land_detector()
{
bool climb_rate_low = (abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX);
bool target_climb_rate_low = !pos_control.is_active_z() || (pos_control.get_desired_velocity().z <= LAND_DETECTOR_DESIRED_CLIMBRATE_MAX);
bool motor_at_lower_limit = motors.limit.throttle_lower;
bool throttle_low = (FRAME_CONFIG == HELI_FRAME) || (motors.get_throttle_out() < get_non_takeoff_throttle());
bool not_rotating_fast = (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX);
if (climb_rate_low && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
if (!ap.land_complete) {
// increase counter until we hit the trigger then set land complete flag
if( land_detector < LAND_DETECTOR_TRIGGER) {
land_detector++;
}else{
set_land_complete(true);
land_detector = LAND_DETECTOR_TRIGGER;
}
}
} else {
// we've sensed movement up or down so reset land_detector
land_detector = 0;
// if throttle output is high then clear landing flag
if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
set_land_complete(false);
}
}
// set land maybe flag
set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
}
// update_throttle_low_comp - sets motors throttle_low_comp value depending upon vehicle state
// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
// has no effect when throttle is above hover throttle
static void update_throttle_low_comp()
{
// manual throttle
if (mode_has_manual_throttle(control_mode)) {
if(!motors.armed() || g.rc_3.control_in <= 0) {
motors.set_throttle_low_comp(0.1f);
} else {
motors.set_throttle_low_comp(0.5f);
}
} else {
// autopilot controlled throttle
const Vector3f angle_target = attitude_control.angle_ef_targets();
if (pythagorous2(angle_target.x, angle_target.y) > 1500.0f) {
// if target lean angle is over 15 degrees set high
motors.set_throttle_low_comp(0.9f);
} else {
motors.set_throttle_low_comp(0.1f);
}
}
}