mirror of https://github.com/ArduPilot/ardupilot
70 lines
2.2 KiB
C++
70 lines
2.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Sub.h"
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#define LAND_END_DEPTH -20 //Landed at 20cm depth
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// Code to detect a crash main ArduCopter code
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#define LAND_CHECK_ANGLE_ERROR_DEG 30.0f // maximum angle error to be considered landing
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#define LAND_CHECK_LARGE_ANGLE_CD 1500.0f // maximum angle target to be considered landing
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#define LAND_CHECK_ACCEL_MOVING 3.0f // maximum acceleration after subtracting gravity
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// counter to verify landings
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static uint32_t land_detector_count = 0;
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// run land and crash detectors
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// called at MAIN_LOOP_RATE
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void Sub::update_land_and_crash_detectors()
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{
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// update 1hz filtered acceleration
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Vector3f accel_ef = ahrs.get_accel_ef_blended();
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accel_ef.z += GRAVITY_MSS;
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land_accel_ef_filter.apply(accel_ef, MAIN_LOOP_SECONDS);
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update_land_detector();
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crash_check();
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}
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// update_land_detector - checks if we have landed and updates the ap.land_complete flag
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// called at MAIN_LOOP_RATE
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void Sub::update_land_detector()
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{
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// if(barometer.num_instances() > 1 && barometer.get_altitude() > LAND_END_DEPTH && ap.throttle_zero) {
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// set_land_complete(true);
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// } else {
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set_land_complete(false);
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// }
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}
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void Sub::set_land_complete(bool b)
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{
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// if no change, exit immediately
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if( ap.land_complete == b )
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return;
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land_detector_count = 0;
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if(b){
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Log_Write_Event(DATA_LAND_COMPLETE);
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} else {
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Log_Write_Event(DATA_NOT_LANDED);
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}
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ap.land_complete = b;
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// trigger disarm-on-land if configured
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bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
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bool mode_disarms_on_land = mode_allows_arming(control_mode,false) && !mode_has_manual_throttle(control_mode);
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if (ap.land_complete && motors.armed() && disarm_on_land_configured && mode_disarms_on_land) {
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init_disarm_motors();
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}
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}
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// update_throttle_thr_mix - sets motors throttle_low_comp value depending upon vehicle state
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// low values favour pilot/autopilot throttle over attitude control, high values favour attitude control over throttle
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// has no effect when throttle is above hover throttle
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void Sub::update_throttle_thr_mix()
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{
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return; // placeholder, was used by heli only
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}
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