mirror of https://github.com/ArduPilot/ardupilot
113 lines
4.3 KiB
C++
113 lines
4.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Common/AP_Common.h>
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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 (BOARD_FLASH_SIZE > 1024)
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#endif
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class AP_Landing;
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/// @class AP_Landing_Deepstall
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/// @brief Class managing Plane Deepstall landing methods
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class AP_Landing_Deepstall
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{
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private:
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friend class AP_Landing;
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// constructor
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AP_Landing_Deepstall(AP_Landing &_landing) :
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landing(_landing)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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AP_Landing &landing;
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static const struct AP_Param::GroupInfo var_info[];
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AP_Float forward_speed;
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AP_Float slope_a;
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AP_Float slope_b;
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AP_Float approach_extension;
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AP_Float down_speed;
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AP_Float slew_speed;
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AP_Int16 elevator_pwm;
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AP_Float handoff_airspeed;
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AP_Float handoff_lower_limit_airspeed;
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AP_Float L1_period;
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AP_Float L1_i;
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AP_Float yaw_rate_limit;
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AP_Float time_constant;
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AP_Float min_abort_alt;
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AP_Float aileron_scalar;
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int32_t loiter_sum_cd; // used for tracking the progress on loitering
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DEEPSTALL_STAGE stage;
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Location landing_point;
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Location extended_approach;
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Location breakout_location;
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Location arc;
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Location arc_entry;
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Location arc_exit;
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float target_heading_deg; // target heading for the deepstall in degrees
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uint32_t stall_entry_time; // time when the aircrafted enter the stall (in millis)
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uint16_t initial_elevator_pwm; // PWM to start slewing the elevator up from
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uint32_t last_time; // last time the controller ran
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float L1_xtrack_i; // L1 integrator for navigation
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PID ds_PID;
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int32_t last_target_bearing; // used for tracking the progress on loitering
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float crosstrack_error; // current crosstrack error
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float predicted_travel_distance; // distance the aircraft is perdicted to travel during deepstall
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bool hold_level; // locks the target yaw rate of the aircraft to 0, serves to hold the aircraft level at all times
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float approach_alt_offset; // approach altitude offset
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//public AP_Landing interface
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void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
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void verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed);
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bool 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,
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const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
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void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc,
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const Location ¤t_loc, int32_t &target_altitude_offset_cm);
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bool override_servos(void);
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bool request_go_around(void);
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bool get_target_altitude_location(Location &location);
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int32_t get_target_airspeed_cm(void) const;
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bool is_throttle_suppressed(void) const;
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bool is_flying_forward(void) const;
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bool is_on_approach(void) const;
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bool terminate(void);
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void Log(void) const;
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bool send_deepstall_message(mavlink_channel_t chan) const;
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const AP_Logger::PID_Info& get_pid_info(void) const;
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//private helpers
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void build_approach_path(bool use_current_heading);
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float predict_travel_distance(const Vector3f wind, const float height, const bool print);
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bool verify_breakout(const Location ¤t_loc, const Location &target_loc, const float height_error) const;
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float update_steering(void);
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#define DEEPSTALL_LOITER_ALT_TOLERANCE 5.0f
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};
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