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LandDetector FW: Fix param min/max values and descriptions as well as some variable names which were wrong/outdated (#9708)

This commit is contained in:
Philipp Oettershagen 2018-06-20 22:13:33 +02:00 committed by Daniel Agar
parent 4dfd77a0cd
commit 7a82c777b2
5 changed files with 16 additions and 16 deletions
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2
ROMFS/px4fmu_common/init.d/3100_tbs_caipirinha
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@ -16,7 +16,7 @@ then
param set FW_AIRSPD_MIN 12.5
param set FW_AIRSPD_TRIM 16.5
param set LNDFW_AIRSPD_MAX 6
param set LNDFW_VELI_MAX 4
param set LNDFW_XYACC_MAX 4
param set LNDFW_VEL_XY_MAX 3
param set LNDFW_VEL_Z_MAX 5
param set FW_R_TC 0.4

6
msg/sensor_bias.msg
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@ -3,9 +3,9 @@
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
#
float32 accel_x # Bias corrected acceleration in body X axis (in rad/s)
float32 accel_y # Bias corrected acceleration in body Y axis (in rad/s)
float32 accel_z # Bias corrected acceleration in body Z axis (in rad/s)
float32 accel_x # Bias corrected acceleration in body X axis (in m/s^2)
float32 accel_y # Bias corrected acceleration in body Y axis (in m/s^2)
float32 accel_z # Bias corrected acceleration in body Z axis (in m/s^2)
# In-run bias estimates (subtract from uncorrected data)

6
src/modules/land_detector/FixedwingLandDetector.cpp
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@ -54,7 +54,7 @@ FixedwingLandDetector::FixedwingLandDetector()
_paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX");
_paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX");
_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
_paramHandle.maxIntVelocity = param_find("LNDFW_VELI_MAX");
_paramHandle.maxXYAccel = param_find("LNDFW_XYACC_MAX");
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
@ -81,7 +81,7 @@ void FixedwingLandDetector::_update_params()
param_get(_paramHandle.maxVelocity, &_params.maxVelocity);
param_get(_paramHandle.maxClimbRate, &_params.maxClimbRate);
param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
param_get(_paramHandle.maxIntVelocity, &_params.maxIntVelocity);
param_get(_paramHandle.maxXYAccel, &_params.maxXYAccel);
}
float FixedwingLandDetector::_get_max_altitude()
@ -130,7 +130,7 @@ bool FixedwingLandDetector::_get_landed_state()
landDetected = _velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed
&& _accel_horz_lp < _params.maxIntVelocity;
&& _accel_horz_lp < _params.maxXYAccel;
} else {
// Control state topic has timed out and we need to assume we're landed.

4
src/modules/land_detector/FixedwingLandDetector.h
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@ -77,14 +77,14 @@ private:
param_t maxVelocity;
param_t maxClimbRate;
param_t maxAirSpeed;
param_t maxIntVelocity;
param_t maxXYAccel;
} _paramHandle{};
struct {
float maxVelocity;
float maxClimbRate;
float maxAirSpeed;
float maxIntVelocity;
float maxXYAccel;
} _params{};
int _airspeedSub{-1};

14
src/modules/land_detector/land_detector_params_fw.c
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@ -51,27 +51,27 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @min 5
* @min 0.1
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 3.0f);
/**
* Fixedwing max short-term velocity
* Fixedwing max horizontal acceleration
*
* Maximum velocity integral in flight direction allowed in the landed state (m/s)
* Maximum horizontal (x,y body axes) acceleration allowed in the landed state (m/s^2)
*
* @unit m/s
* @unit m/s^2
* @min 2
* @max 10
* @max 15
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 8.0f);
PARAM_DEFINE_FLOAT(LNDFW_XYACC_MAX, 8.0f);
/**
* Airspeed max