ardupilot/ArduPlane/is_flying.cpp

326 lines
12 KiB
C++

#include "Plane.h"
/*
is_flying and crash detection logic
*/
#define CRASH_DETECTION_DELAY_MS 500
#define IS_FLYING_IMPACT_TIMER_MS 3000
#define GPS_IS_FLYING_SPEED_CMS 150
/*
Do we think we are flying?
Probabilistic method where a bool is low-passed and considered a probability.
*/
void Plane::update_is_flying_5Hz(void)
{
float aspeed=0;
bool is_flying_bool;
uint32_t now_ms = AP_HAL::millis();
uint32_t ground_speed_thresh_cm = (aparm.min_gndspeed_cm > 0) ? ((uint32_t)(aparm.min_gndspeed_cm*0.9f)) : GPS_IS_FLYING_SPEED_CMS;
bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
(gps.ground_speed_cm() >= ground_speed_thresh_cm);
// airspeed at least 75% of stall speed?
const float airspeed_threshold = MAX(aparm.airspeed_min,2)*0.75f;
bool airspeed_movement = ahrs.airspeed_estimate(aspeed) && (aspeed >= airspeed_threshold);
if (gps.status() < AP_GPS::GPS_OK_FIX_2D && arming.is_armed() && !airspeed_movement && isFlyingProbability > 0.3) {
// when flying with no GPS, use the last airspeed estimate to
// determine if we think we have airspeed movement. This
// prevents the crash detector from triggering when
// dead-reckoning under long GPS loss
airspeed_movement = aspeed >= airspeed_threshold;
}
if (quadplane.is_flying()) {
is_flying_bool = true;
} else if(arming.is_armed()) {
// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
// short drop-outs of GPS are common during flight due to banking which points the antenna in different directions
bool gps_lost_recently = (gps.last_fix_time_ms() > 0) && // we have locked to GPS before
(gps.status() < AP_GPS::GPS_OK_FIX_2D) && // and it's lost now
(now_ms - gps.last_fix_time_ms() < 5000); // but it wasn't that long ago (<5s)
if ((auto_state.last_flying_ms > 0) && gps_lost_recently) {
// we've flown before, remove GPS constraints temporarily and only use airspeed
is_flying_bool = airspeed_movement; // moving through the air
} else {
// Because ahrs.airspeed_estimate can return a continued high value after landing if flying in
// strong winds above stall speed it is necessary to include the IMU based movement check.
is_flying_bool = (airspeed_movement && !AP::ins().is_still()) || // moving through the air
gps_confirmed_movement; // locked and we're moving
}
if (control_mode == &mode_auto) {
/*
make is_flying() more accurate during various auto modes
*/
// Detect X-axis deceleration for probable ground impacts.
// Limit the max probability so it can decay faster. This
// will not change the is_flying state, anything above 0.1
// is "true", it just allows it to decay faster once we decide we
// aren't flying using the normal schemes
if (g.crash_accel_threshold == 0) {
crash_state.impact_detected = false;
} else if (ins.get_accel_peak_hold_neg_x() < -(g.crash_accel_threshold)) {
// large deceleration detected, lets lower confidence VERY quickly
crash_state.impact_detected = true;
crash_state.impact_timer_ms = now_ms;
if (isFlyingProbability > 0.2f) {
isFlyingProbability = 0.2f;
}
} else if (crash_state.impact_detected &&
(now_ms - crash_state.impact_timer_ms > IS_FLYING_IMPACT_TIMER_MS)) {
// no impacts seen in a while, clear the flag so we stop clipping isFlyingProbability
crash_state.impact_detected = false;
}
switch (flight_stage)
{
case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF:
break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL:
if (in_preLaunch_flight_stage()) {
// while on the ground, an uncalibrated airspeed sensor can drift to 7m/s so
// ensure we aren't showing a false positive.
is_flying_bool = false;
crash_state.is_crashed = false;
auto_state.started_flying_in_auto_ms = 0;
}
break;
case AP_Vehicle::FixedWing::FLIGHT_VTOL:
// TODO: detect ground impacts
break;
case AP_Vehicle::FixedWing::FLIGHT_LAND:
if (landing.is_on_approach() && auto_state.sink_rate > 0.2f) {
is_flying_bool = true;
}
break;
case AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND:
if (auto_state.sink_rate < -0.5f) {
// steep climb
is_flying_bool = true;
}
break;
default:
break;
} // switch
}
} else {
// when disarmed assume not flying and need overwhelming evidence that we ARE flying
is_flying_bool = airspeed_movement && gps_confirmed_movement;
if ((flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF) || landing.is_flaring()) {
is_flying_bool = false;
}
}
if (!crash_state.impact_detected || !is_flying_bool) {
// when impact is detected, enforce a clip. Only allow isFlyingProbability to go down, not up.
// low-pass the result.
// coef=0.15f @ 5Hz takes 3.0s to go from 100% down to 10% (or 0% up to 90%)
isFlyingProbability = (0.85f * isFlyingProbability) + (0.15f * (float)is_flying_bool);
}
/*
update last_flying_ms so we always know how long we have not
been flying for. This helps for crash detection and auto-disarm
*/
bool new_is_flying = is_flying();
// we are flying, note the time
if (new_is_flying) {
auto_state.last_flying_ms = now_ms;
if (!previous_is_flying) {
// just started flying in any mode
started_flying_ms = now_ms;
}
if ((control_mode == &mode_auto) &&
((auto_state.started_flying_in_auto_ms == 0) || !previous_is_flying) ) {
// We just started flying, note that time also
auto_state.started_flying_in_auto_ms = now_ms;
}
}
previous_is_flying = new_is_flying;
#if HAL_ADSB_ENABLED
adsb.set_is_flying(new_is_flying);
#endif
#if PARACHUTE == ENABLED
parachute.set_is_flying(new_is_flying);
#endif
#if STATS_ENABLED == ENABLED
g2.stats.set_flying(new_is_flying);
#endif
AP_Notify::flags.flying = new_is_flying;
crash_detection_update();
Log_Write_Status();
// tell AHRS flying state
set_likely_flying(new_is_flying);
}
/*
return true if we think we are flying. This is a probabilistic
estimate, and needs to be used very carefully. Each use case needs
to be thought about individually.
*/
bool Plane::is_flying(void)
{
if (hal.util->get_soft_armed()) {
if (quadplane.is_flying_vtol()) {
return true;
}
// when armed, assume we're flying unless we probably aren't
return (isFlyingProbability >= 0.1f);
}
// when disarmed, assume we're not flying unless we probably are
return (isFlyingProbability >= 0.9f);
}
/*
* Determine if we have crashed
*/
void Plane::crash_detection_update(void)
{
if (control_mode != &mode_auto || !aparm.crash_detection_enable)
{
// crash detection is only available in AUTO mode
crash_state.debounce_timer_ms = 0;
crash_state.is_crashed = false;
return;
}
uint32_t now_ms = AP_HAL::millis();
bool crashed_near_land_waypoint = false;
bool crashed = false;
bool been_auto_flying = (auto_state.started_flying_in_auto_ms > 0) &&
(now_ms - auto_state.started_flying_in_auto_ms >= 2500);
if (!is_flying() && arming.is_armed())
{
if (landing.is_expecting_impact()) {
// We should be nice and level-ish in this flight stage. If not, we most
// likely had a crazy landing. Throttle is inhibited already at the flare
// but go ahead and notify GCS and perform any additional post-crash actions.
// Declare a crash if we are oriented more that 60deg in pitch or roll
if (!crash_state.checkedHardLanding && // only check once
been_auto_flying &&
(labs(ahrs.roll_sensor) > 6000 || labs(ahrs.pitch_sensor) > 6000)) {
crashed = true;
// did we "crash" within 75m of the landing location? Probably just a hard landing
crashed_near_land_waypoint =
current_loc.get_distance(mission.get_current_nav_cmd().content.location) < 75;
// trigger hard landing event right away, or never again. This inhibits a false hard landing
// event when, for example, a minute after a good landing you pick the plane up and
// this logic is still running and detects the plane is on its side as you carry it.
crash_state.debounce_timer_ms = now_ms;
crash_state.debounce_time_total_ms = 0; // no debounce
}
crash_state.checkedHardLanding = true;
} else if (landing.is_on_approach()) {
// when altitude gets low, we automatically flare so ground crashes
// most likely can not be triggered from here. However,
// a crash into a tree would be caught here.
if (been_auto_flying) {
crashed = true;
crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS;
}
} else {
switch (flight_stage)
{
case AP_Vehicle::FixedWing::FLIGHT_TAKEOFF:
if (g.takeoff_throttle_min_accel > 0 &&
!throttle_suppressed) {
// if you have an acceleration holding back throttle, but you met the
// accel threshold but still not fying, then you either shook/hit the
// plane or it was a failed launch.
crashed = true;
crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS;
}
// TODO: handle auto missions without NAV_TAKEOFF mission cmd
break;
case AP_Vehicle::FixedWing::FLIGHT_NORMAL:
if (!in_preLaunch_flight_stage() && been_auto_flying) {
crashed = true;
crash_state.debounce_time_total_ms = CRASH_DETECTION_DELAY_MS;
}
break;
case AP_Vehicle::FixedWing::FLIGHT_VTOL:
// we need a totally new method for this
crashed = false;
break;
default:
break;
} // switch
}
} else {
crash_state.checkedHardLanding = false;
}
// if we have no GPS lock and we don't have a functional airspeed
// sensor then don't do crash detection
if (gps.status() < AP_GPS::GPS_OK_FIX_3D && (!airspeed.use() || !airspeed.healthy())) {
crashed = false;
}
if (!crashed) {
// reset timer
crash_state.debounce_timer_ms = 0;
} else if (crash_state.debounce_timer_ms == 0) {
// start timer
crash_state.debounce_timer_ms = now_ms;
} else if ((now_ms - crash_state.debounce_timer_ms >= crash_state.debounce_time_total_ms) && !crash_state.is_crashed) {
crash_state.is_crashed = true;
if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
arming.disarm(AP_Arming::Method::CRASH);
}
if (crashed_near_land_waypoint) {
gcs().send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
} else {
gcs().send_text(MAV_SEVERITY_EMERGENCY, "Crash detected");
}
}
}
/*
* return true if we are in a pre-launch phase of an auto-launch, typically used in bungee launches
*/
bool Plane::in_preLaunch_flight_stage(void)
{
if (control_mode == &mode_takeoff && throttle_suppressed) {
return true;
}
return (control_mode == &mode_auto &&
throttle_suppressed &&
flight_stage == AP_Vehicle::FixedWing::FLIGHT_NORMAL &&
mission.get_current_nav_cmd().id == MAV_CMD_NAV_TAKEOFF &&
!quadplane.is_vtol_takeoff(mission.get_current_nav_cmd().id));
}