mirror of https://github.com/ArduPilot/ardupilot
84 lines
3.6 KiB
C++
84 lines
3.6 KiB
C++
#include "Copter.h"
|
|
|
|
void Copter::update_ground_effect_detector(void)
|
|
{
|
|
if(!g2.gndeffect_comp_enabled || !motors->armed()) {
|
|
// disarmed - disable ground effect and return
|
|
gndeffect_state.takeoff_expected = false;
|
|
gndeffect_state.touchdown_expected = false;
|
|
ahrs.setTakeoffExpected(gndeffect_state.takeoff_expected);
|
|
ahrs.setTouchdownExpected(gndeffect_state.touchdown_expected);
|
|
return;
|
|
}
|
|
|
|
// variable initialization
|
|
uint32_t tnow_ms = millis();
|
|
float xy_des_speed_cms = 0.0f;
|
|
float xy_speed_cms = 0.0f;
|
|
float des_climb_rate_cms = pos_control->get_desired_velocity().z;
|
|
|
|
if (pos_control->is_active_xy()) {
|
|
Vector3f vel_target = pos_control->get_vel_target();
|
|
vel_target.z = 0.0f;
|
|
xy_des_speed_cms = vel_target.length();
|
|
}
|
|
|
|
if (position_ok() || ekf_has_relative_position()) {
|
|
Vector3f vel = inertial_nav.get_velocity();
|
|
vel.z = 0.0f;
|
|
xy_speed_cms = vel.length();
|
|
}
|
|
|
|
// takeoff logic
|
|
|
|
// if we are armed and haven't yet taken off
|
|
if (motors->armed() && ap.land_complete && !gndeffect_state.takeoff_expected) {
|
|
gndeffect_state.takeoff_expected = true;
|
|
}
|
|
|
|
// if we aren't taking off yet, reset the takeoff timer, altitude and complete flag
|
|
const bool throttle_up = flightmode->has_manual_throttle() && channel_throttle->get_control_in() > 0;
|
|
if (!throttle_up && ap.land_complete) {
|
|
gndeffect_state.takeoff_time_ms = tnow_ms;
|
|
gndeffect_state.takeoff_alt_cm = inertial_nav.get_altitude();
|
|
}
|
|
|
|
// if we are in takeoff_expected and we meet the conditions for having taken off
|
|
// end the takeoff_expected state
|
|
if (gndeffect_state.takeoff_expected && (tnow_ms-gndeffect_state.takeoff_time_ms > 5000 || inertial_nav.get_altitude()-gndeffect_state.takeoff_alt_cm > 50.0f)) {
|
|
gndeffect_state.takeoff_expected = false;
|
|
}
|
|
|
|
// landing logic
|
|
Vector3f angle_target_rad = attitude_control->get_att_target_euler_cd() * radians(0.01f);
|
|
bool small_angle_request = cosf(angle_target_rad.x)*cosf(angle_target_rad.y) > cosf(radians(7.5f));
|
|
bool xy_speed_low = (position_ok() || ekf_has_relative_position()) && xy_speed_cms <= 125.0f;
|
|
bool xy_speed_demand_low = pos_control->is_active_xy() && xy_des_speed_cms <= 125.0f;
|
|
bool slow_horizontal = xy_speed_demand_low || (xy_speed_low && !pos_control->is_active_xy()) || (control_mode == Mode::Number::ALT_HOLD && small_angle_request);
|
|
|
|
bool descent_demanded = pos_control->is_active_z() && des_climb_rate_cms < 0.0f;
|
|
bool slow_descent_demanded = descent_demanded && des_climb_rate_cms >= -100.0f;
|
|
bool z_speed_low = fabsf(inertial_nav.get_velocity_z()) <= 60.0f;
|
|
bool slow_descent = (slow_descent_demanded || (z_speed_low && descent_demanded));
|
|
|
|
gndeffect_state.touchdown_expected = slow_horizontal && slow_descent;
|
|
|
|
// Prepare the EKF for ground effect if either takeoff or touchdown is expected.
|
|
ahrs.setTakeoffExpected(gndeffect_state.takeoff_expected);
|
|
ahrs.setTouchdownExpected(gndeffect_state.touchdown_expected);
|
|
}
|
|
|
|
// update ekf terrain height stable setting
|
|
// when set to true, this allows the EKF to stabilize the normally barometer based altitude using a rangefinder
|
|
// this is not related to terrain following
|
|
void Copter::update_ekf_terrain_height_stable()
|
|
{
|
|
// set to false if no position estimate
|
|
if (!position_ok() && !ekf_has_relative_position()) {
|
|
ahrs.set_terrain_hgt_stable(false);
|
|
}
|
|
|
|
// consider terrain height stable if vehicle is taking off or landing
|
|
ahrs.set_terrain_hgt_stable(flightmode->is_taking_off() || flightmode->is_landing());
|
|
}
|