mirror of https://github.com/ArduPilot/ardupilot
239 lines
9.0 KiB
C++
239 lines
9.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Plane.h"
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/*
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is_flying and crash detection logic
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*/
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/*
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Do we think we are flying?
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Probabilistic method where a bool is low-passed and considered a probability.
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*/
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void Plane::update_is_flying_5Hz(void)
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{
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float aspeed;
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bool is_flying_bool;
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uint32_t now_ms = hal.scheduler->millis();
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uint32_t ground_speed_thresh_cm = (g.min_gndspeed_cm > 0) ? ((uint32_t)(g.min_gndspeed_cm*0.9f)) : 500;
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bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
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(gps.ground_speed_cm() >= ground_speed_thresh_cm);
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// airspeed at least 75% of stall speed?
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bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f));
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if(arming.is_armed()) {
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// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
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// short drop-outs of GPS are common during flight due to banking which points the antenna in different directions
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bool gps_lost_recently = (gps.last_fix_time_ms() > 0) && // we have locked to GPS before
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(gps.status() < AP_GPS::GPS_OK_FIX_2D) && // and it's lost now
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(now_ms - gps.last_fix_time_ms() < 5000); // but it wasn't that long ago (<5s)
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if ((auto_state.last_flying_ms > 0) && gps_lost_recently) {
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// we've flown before, remove GPS constraints temporarily and only use airspeed
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is_flying_bool = airspeed_movement; // moving through the air
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} else {
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// we've never flown yet, require good GPS movement
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is_flying_bool = airspeed_movement || // moving through the air
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gps_confirmed_movement; // locked and we're moving
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}
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if (control_mode == AUTO) {
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/*
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make is_flying() more accurate during various auto modes
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*/
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switch (flight_stage)
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{
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case AP_SpdHgtControl::FLIGHT_TAKEOFF:
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// while on the ground, an uncalibrated airspeed sensor can drift to 7m/s so
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// ensure we aren't showing a false positive. If the throttle is suppressed
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// we are definitely not flying, or at least for not much longer!
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if (throttle_suppressed) {
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is_flying_bool = false;
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crash_state.is_crashed = false;
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}
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break;
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case AP_SpdHgtControl::FLIGHT_NORMAL:
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// TODO: detect ground impacts
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break;
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case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
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// TODO: detect ground impacts
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if (fabsf(auto_state.sink_rate) > 0.2f) {
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is_flying_bool = true;
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}
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break;
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case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
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break;
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} // switch
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}
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} else {
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// when disarmed assume not flying and need overwhelming evidence that we ARE flying
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is_flying_bool = airspeed_movement && gps_confirmed_movement;
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if ((control_mode == AUTO) &&
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((flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) ||
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(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL)) ) {
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is_flying_bool = false;
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}
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}
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// low-pass the result.
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// coef=0.15f @ 5Hz takes 3.0s to go from 100% down to 10% (or 0% up to 90%)
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isFlyingProbability = (0.85f * isFlyingProbability) + (0.15f * (float)is_flying_bool);
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/*
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update last_flying_ms so we always know how long we have not
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been flying for. This helps for crash detection and auto-disarm
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*/
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bool new_is_flying = is_flying();
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// we are flying, note the time
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if (new_is_flying) {
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auto_state.last_flying_ms = now_ms;
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if ((control_mode == AUTO) &&
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((auto_state.started_flying_in_auto_ms == 0) || !previous_is_flying) ) {
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// We just started flying, note that time also
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auto_state.started_flying_in_auto_ms = now_ms;
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}
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}
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previous_is_flying = new_is_flying;
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if (should_log(MASK_LOG_MODE)) {
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Log_Write_Status();
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}
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}
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/*
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return true if we think we are flying. This is a probabilistic
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estimate, and needs to be used very carefully. Each use case needs
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to be thought about individually.
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*/
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bool Plane::is_flying(void)
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{
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if (hal.util->get_soft_armed()) {
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// when armed, assume we're flying unless we probably aren't
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return (isFlyingProbability >= 0.1f);
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}
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// when disarmed, assume we're not flying unless we probably are
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return (isFlyingProbability >= 0.9f);
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}
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/*
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* Determine if we have crashed
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*/
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void Plane::crash_detection_update(void)
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{
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if (control_mode != AUTO)
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{
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// crash detection is only available in AUTO mode
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crash_state.debounce_timer_ms = 0;
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return;
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}
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uint32_t now_ms = hal.scheduler->millis();
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bool auto_launch_detected;
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bool crashed_near_land_waypoint = false;
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bool crashed = false;
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bool been_auto_flying = (auto_state.started_flying_in_auto_ms > 0) &&
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(now_ms - auto_state.started_flying_in_auto_ms >= 2500);
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if (!is_flying())
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{
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switch (flight_stage)
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{
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case AP_SpdHgtControl::FLIGHT_TAKEOFF:
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auto_launch_detected = !throttle_suppressed && (g.takeoff_throttle_min_accel > 0);
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if (been_auto_flying || // failed hand launch
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auto_launch_detected) { // threshold of been_auto_flying may not be met on auto-launches
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// has launched but is no longer flying. That's a crash on takeoff.
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crashed = true;
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}
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break;
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case AP_SpdHgtControl::FLIGHT_NORMAL:
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if (been_auto_flying) {
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crashed = true;
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}
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// TODO: handle auto missions without NAV_TAKEOFF mission cmd
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break;
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case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
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if (been_auto_flying) {
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crashed = true;
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}
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// when altitude gets low, we automatically progress to FLIGHT_LAND_FINAL
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// so ground crashes most likely can not be triggered from here. However,
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// a crash into a tree, for example, would be.
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break;
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case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
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// We should be nice and level-ish in this flight stage. If not, we most
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// likely had a crazy landing. Throttle is inhibited already at the flare
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// but go ahead and notify GCS and perform any additional post-crash actions.
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// Declare a crash if we are oriented more that 60deg in pitch or roll
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if (been_auto_flying &&
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!crash_state.checkHardLanding && // only check once
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(fabsf(ahrs.roll_sensor) > 6000 || fabsf(ahrs.pitch_sensor) > 6000)) {
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crashed = true;
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// did we "crash" within 75m of the landing location? Probably just a hard landing
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crashed_near_land_waypoint =
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get_distance(current_loc, mission.get_current_nav_cmd().content.location) < 75;
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// trigger hard landing event right away, or never again. This inhibits a false hard landing
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// event when, for example, a minute after a good landing you pick the plane up and
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// this logic is still running and detects the plane is on its side as you carry it.
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crash_state.debounce_timer_ms = now_ms + 2500;
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}
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crash_state.checkHardLanding = true;
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break;
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} // switch
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} else {
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crash_state.checkHardLanding = false;
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}
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if (!crashed) {
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// reset timer
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crash_state.debounce_timer_ms = 0;
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} else if (crash_state.debounce_timer_ms == 0) {
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// start timer
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crash_state.debounce_timer_ms = now_ms;
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} else if ((now_ms - crash_state.debounce_timer_ms >= 2500) && !crash_state.is_crashed) {
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crash_state.is_crashed = true;
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if (g.crash_detection_enable == CRASH_DETECT_ACTION_BITMASK_DISABLED) {
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if (crashed_near_land_waypoint) {
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gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Hard Landing Detected - no action taken"));
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} else {
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gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Crash Detected - no action taken"));
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}
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}
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else {
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if (g.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
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disarm_motors();
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}
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auto_state.land_complete = true;
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if (crashed_near_land_waypoint) {
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gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Hard Landing Detected"));
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} else {
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gcs_send_text_P(MAV_SEVERITY_CRITICAL, PSTR("Crash Detected"));
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}
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}
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}
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}
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