mirror of https://github.com/ArduPilot/ardupilot
88 lines
3.9 KiB
C++
88 lines
3.9 KiB
C++
#include "Copter.h"
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void Copter::update_ground_effect_detector(void)
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{
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if(!g2.gndeffect_comp_enabled || !motors->armed()) {
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// disarmed - disable ground effect and return
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gndeffect_state.takeoff_expected = false;
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gndeffect_state.touchdown_expected = false;
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ahrs.set_takeoff_expected(gndeffect_state.takeoff_expected);
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ahrs.set_touchdown_expected(gndeffect_state.touchdown_expected);
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return;
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}
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// variable initialization
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uint32_t tnow_ms = millis();
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float xy_des_speed_cms = 0.0f;
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float xy_speed_cms = 0.0f;
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float des_climb_rate_cms = pos_control->get_vel_desired_cms().z;
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if (pos_control->is_active_xy()) {
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Vector3f vel_target = pos_control->get_vel_target_cms();
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vel_target.z = 0.0f;
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xy_des_speed_cms = vel_target.length();
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}
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if (position_ok() || ekf_has_relative_position()) {
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Vector3f vel = inertial_nav.get_velocity_neu_cms();
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vel.z = 0.0f;
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xy_speed_cms = vel.length();
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}
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// takeoff logic
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if (flightmode->mode_number() == Mode::Number::THROW) {
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// throw mode never wants the takeoff expected EKF code
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gndeffect_state.takeoff_expected = false;
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} else if (motors->armed() && ap.land_complete) {
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// if we are armed and haven't yet taken off then we expect an imminent takeoff
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gndeffect_state.takeoff_expected = true;
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}
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// if we aren't taking off yet, reset the takeoff timer, altitude and complete flag
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const bool throttle_up = flightmode->has_manual_throttle() && channel_throttle->get_control_in() > 0;
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if (!throttle_up && ap.land_complete) {
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gndeffect_state.takeoff_time_ms = tnow_ms;
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gndeffect_state.takeoff_alt_cm = inertial_nav.get_position_z_up_cm();
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}
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// if we are in takeoff_expected and we meet the conditions for having taken off
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// end the takeoff_expected state
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if (gndeffect_state.takeoff_expected && (tnow_ms-gndeffect_state.takeoff_time_ms > 5000 || inertial_nav.get_position_z_up_cm()-gndeffect_state.takeoff_alt_cm > 50.0f)) {
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gndeffect_state.takeoff_expected = false;
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}
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// landing logic
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Vector3f angle_target_rad = attitude_control->get_att_target_euler_cd() * radians(0.01f);
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bool small_angle_request = cosf(angle_target_rad.x)*cosf(angle_target_rad.y) > cosf(radians(7.5f));
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bool xy_speed_low = (position_ok() || ekf_has_relative_position()) && xy_speed_cms <= 125.0f;
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bool xy_speed_demand_low = pos_control->is_active_xy() && xy_des_speed_cms <= 125.0f;
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bool slow_horizontal = xy_speed_demand_low || (xy_speed_low && !pos_control->is_active_xy()) || (flightmode->mode_number() == Mode::Number::ALT_HOLD && small_angle_request);
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bool descent_demanded = pos_control->is_active_z() && des_climb_rate_cms < 0.0f;
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bool slow_descent_demanded = descent_demanded && des_climb_rate_cms >= -100.0f;
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bool z_speed_low = fabsf(inertial_nav.get_velocity_z_up_cms()) <= 60.0f;
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bool slow_descent = (slow_descent_demanded || (z_speed_low && descent_demanded));
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gndeffect_state.touchdown_expected = slow_horizontal && slow_descent;
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// Prepare the EKF for ground effect if either takeoff or touchdown is expected.
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ahrs.set_takeoff_expected(gndeffect_state.takeoff_expected);
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ahrs.set_touchdown_expected(gndeffect_state.touchdown_expected);
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}
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// update ekf terrain height stable setting
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// when set to true, this allows the EKF to stabilize the normally barometer based altitude using a rangefinder
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// this is not related to terrain following
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void Copter::update_ekf_terrain_height_stable()
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{
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// set to false if no position estimate
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if (!position_ok() && !ekf_has_relative_position()) {
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ahrs.set_terrain_hgt_stable(false);
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return;
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}
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// consider terrain height stable if vehicle is taking off or landing
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ahrs.set_terrain_hgt_stable(flightmode->is_taking_off() || flightmode->is_landing());
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}
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