ardupilot/ArduCopter/baro_ground_effect.cpp

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());
}