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px4-firmware/msg/vehicle_land_detected.msg

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add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-06 21:30:05 -03:00
uint64 timestamp # time since system start (microseconds)
move vehicle at rest detection ekf2 -> land_detector - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 18:50:19 -04:00
LandDetector: switch land flags to properies instead of one state
2019-10-12 16:52:52 -03:00
bool freefall # true if vehicle is currently in free-fall
bool ground_contact # true if vehicle has ground contact but is not landed (1. stage)
bool maybe_landed # true if the vehicle might have landed (2. stage)
bool landed # true if vehicle is currently landed on the ground (3. stage)
move vehicle at rest detection ekf2 -> land_detector - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 18:50:19 -04:00
added ground effect reporting to land detector Signed-off-by: Roman <bapstroman@gmail.com>
2019-01-22 04:09:53 -04:00
bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
land detector: log more states in order to facilitate debugging ground contact state Signed-off-by: RomanBapst <bapstroman@gmail.com>
2021-03-15 09:05:14 -03:00
bool in_descend
move vehicle at rest detection ekf2 -> land_detector - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 18:50:19 -04:00
land detector: log more states in order to facilitate debugging ground contact state Signed-off-by: RomanBapst <bapstroman@gmail.com>
2021-03-15 09:05:14 -03:00
bool has_low_throttle
move vehicle at rest detection ekf2 -> land_detector - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 18:50:19 -04:00
land detector: log more states in order to facilitate debugging ground contact state Signed-off-by: RomanBapst <bapstroman@gmail.com>
2021-03-15 09:05:14 -03:00
bool vertical_movement
bool horizontal_movement
move vehicle at rest detection ekf2 -> land_detector - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 18:50:19 -04:00
land detector: log more states in order to facilitate debugging ground contact state Signed-off-by: RomanBapst <bapstroman@gmail.com>
2021-03-15 09:05:14 -03:00
bool close_to_ground_or_skipped_check
move vehicle at rest detection ekf2 -> land_detector - move vehicle at reset detection ekf2 -> land_detector - ekf_unit: reduce init period - Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough. - ekf_unit: reduce minimum vel/pos variance required after init - Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly. Co-authored-by:: bresch <brescianimathieu@gmail.com>
2022-02-01 18:50:19 -04:00
bool at_rest