ardupilot/libraries/AP_Landing/AP_Landing.h

191 lines
8.7 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Param/AP_Param.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Common/AP_Common.h>
#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
#include <AP_Navigation/AP_Navigation.h>
#include "AP_Landing_Deepstall.h"
#include <AP_Common/Location.h>
/// @class AP_Landing
/// @brief Class managing ArduPlane landing methods
class AP_Landing {
friend class AP_Landing_Deepstall;
public:
FUNCTOR_TYPEDEF(set_target_altitude_proportion_fn_t, void, const Location&, float);
FUNCTOR_TYPEDEF(constrain_target_altitude_location_fn_t, void, const Location&, const Location&);
FUNCTOR_TYPEDEF(adjusted_altitude_cm_fn_t, int32_t);
FUNCTOR_TYPEDEF(adjusted_relative_altitude_cm_fn_t, int32_t);
FUNCTOR_TYPEDEF(disarm_if_autoland_complete_fn_t, void);
FUNCTOR_TYPEDEF(update_flight_stage_fn_t, void);
AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm,
set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn,
constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn,
adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn,
adjusted_relative_altitude_cm_fn_t _adjusted_relative_altitude_cm_fn,
disarm_if_autoland_complete_fn_t _disarm_if_autoland_complete_fn,
update_flight_stage_fn_t _update_flight_stage_fn);
/* Do not allow copies */
AP_Landing(const AP_Landing &other) = delete;
AP_Landing &operator=(const AP_Landing&) = delete;
// NOTE: make sure to update is_type_valid()
enum Landing_Type {
TYPE_STANDARD_GLIDE_SLOPE = 0,
TYPE_DEEPSTALL = 1,
// TODO: TYPE_PARACHUTE,
// TODO: TYPE_HELICAL,
};
void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
bool verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
void adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
bool override_servos(void);
void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
bool request_go_around(void);
bool is_flaring(void) const;
bool is_on_approach(void) const;
bool is_ground_steering_allowed(void) const;
bool is_throttle_suppressed(void) const;
bool is_flying_forward(void) const;
void handle_flight_stage_change(const bool _in_landing_stage);
int32_t constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
bool get_target_altitude_location(Location &location);
bool send_landing_message(mavlink_channel_t chan);
// terminate the flight with an immediate landing, returns false if unable to be used for termination
bool terminate(void);
// helper functions
bool restart_landing_sequence(void);
float wind_alignment(const float heading_deg);
float head_wind(void);
int32_t get_target_airspeed_cm(void);
// accessor functions for the params and states
static const struct AP_Param::GroupInfo var_info[];
int16_t get_pitch_cd(void) const { return pitch_cd; }
float get_flare_sec(void) const { return flare_sec; }
int8_t get_disarm_delay(void) const { return disarm_delay; }
int8_t get_then_servos_neutral(void) const { return then_servos_neutral; }
int8_t get_abort_throttle_enable(void) const { return abort_throttle_enable; }
int8_t get_flap_percent(void) const { return flap_percent; }
int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
bool is_commanded_go_around(void) const { return flags.commanded_go_around; }
bool is_complete(void) const;
void set_initial_slope(void) { initial_slope = slope; }
bool is_expecting_impact(void) const;
void Log(void) const;
const AP_Logger::PID_Info * get_pid_info(void) const;
// landing altitude offset (meters)
float alt_offset;
private:
struct {
// denotes if a go-around has been commanded for landing
bool commanded_go_around:1;
// are we in auto and flight_stage is LAND
bool in_progress:1;
} flags;
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
float initial_slope;
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / prev_WP_loc.get_distance(next_WP_loc)
float slope;
AP_Mission &mission;
AP_AHRS &ahrs;
AP_SpdHgtControl *SpdHgt_Controller;
AP_Navigation *nav_controller;
AP_Vehicle::FixedWing &aparm;
set_target_altitude_proportion_fn_t set_target_altitude_proportion_fn;
constrain_target_altitude_location_fn_t constrain_target_altitude_location_fn;
adjusted_altitude_cm_fn_t adjusted_altitude_cm_fn;
adjusted_relative_altitude_cm_fn_t adjusted_relative_altitude_cm_fn;
disarm_if_autoland_complete_fn_t disarm_if_autoland_complete_fn;
update_flight_stage_fn_t update_flight_stage_fn;
// support for deepstall landings
AP_Landing_Deepstall deepstall;
AP_Int16 pitch_cd;
AP_Float flare_alt;
AP_Float flare_sec;
AP_Float pre_flare_airspeed;
AP_Float pre_flare_alt;
AP_Float pre_flare_sec;
AP_Float slope_recalc_shallow_threshold;
AP_Float slope_recalc_steep_threshold_to_abort;
AP_Int8 disarm_delay;
AP_Int8 then_servos_neutral;
AP_Int8 abort_throttle_enable;
AP_Int8 flap_percent;
AP_Int8 throttle_slewrate;
AP_Int8 type;
// Land Type STANDARD GLIDE SLOPE
enum {
SLOPE_STAGE_NORMAL,
SLOPE_STAGE_APPROACH,
SLOPE_STAGE_PREFLARE,
SLOPE_STAGE_FINAL
} type_slope_stage;
struct {
// once landed, post some landing statistics to the GCS
bool post_stats:1;
bool has_aborted_due_to_slope_recalc:1;
} type_slope_flags;
void type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
void type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed);
bool type_slope_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
void type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
void type_slope_setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
int32_t type_slope_get_target_airspeed_cm(void);
void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
bool type_slope_request_go_around(void);
void type_slope_log(void) const;
bool type_slope_is_complete(void) const;
bool type_slope_is_flaring(void) const;
bool type_slope_is_on_approach(void) const;
bool type_slope_is_expecting_impact(void) const;
bool type_slope_is_throttle_suppressed(void) const;
};