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FW land detector increase trigger time and cleanup (#8486)

This commit is contained in:
Daniel Agar 2017-12-21 12:17:32 -05:00 committed by GitHub
parent 7dab5d4380
commit ec57832a8f
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 231 additions and 191 deletions
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26
src/modules/land_detector/FixedwingLandDetector.cpp
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@ -57,7 +57,9 @@ FixedwingLandDetector::FixedwingLandDetector()
_paramHandle.maxIntVelocity = param_find("LNDFW_VELI_MAX");
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
_landed_hysteresis.set_hysteresis_time_from(false, LAND_DETECTOR_TRIGGER_TIME_US);
_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
}
void FixedwingLandDetector::_initialize_topics()
@ -86,26 +88,8 @@ float FixedwingLandDetector::_get_max_altitude()
{
// TODO
// This means no altitude limit as the limit
// is always current position plus 1000 meters
return roundf(-_local_pos.z + 1000);
}
bool FixedwingLandDetector::_get_freefall_state()
{
// TODO
return false;
}
bool FixedwingLandDetector::_get_ground_contact_state()
{
// TODO
return false;
}
bool FixedwingLandDetector::_get_maybe_landed_state()
{
// TODO
return false;
// is always current position plus 10000 meters
return roundf(-_local_pos.z + 10000);
}
bool FixedwingLandDetector::_get_landed_state()

7
src/modules/land_detector/FixedwingLandDetector.h
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@ -60,16 +60,15 @@ protected:
void _initialize_topics() override;
void _update_params() override;
void _update_topics() override;
bool _get_landed_state() override;
bool _get_maybe_landed_state() override;
bool _get_ground_contact_state() override;
bool _get_freefall_state() override;
float _get_max_altitude() override;
private:
/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 1500000;
static constexpr uint64_t LANDED_TRIGGER_TIME_US = 2000000;
static constexpr uint64_t FLYING_TRIGGER_TIME_US = 0;
struct {
param_t maxVelocity;

8
src/modules/land_detector/LandDetector.h
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@ -120,17 +120,17 @@ protected:
/**
* @return true if UAV is in almost landed state
*/
virtual bool _get_maybe_landed_state() = 0;
virtual bool _get_maybe_landed_state() { return false; }
/**
* @return true if UAV is touching ground but not landed
*/
virtual bool _get_ground_contact_state() = 0;
virtual bool _get_ground_contact_state() { return false; }
/**
* @return true if UAV is in free-fall state.
*/
virtual bool _get_freefall_state() = 0;
virtual bool _get_freefall_state() { return false; }
/**
* @return maximum altitude that can be reached
@ -167,7 +167,7 @@ private:
void _cycle();
void _check_params(const bool force);
void _check_params(bool force = false);
void _update_state();

162
src/modules/land_detector/land_detector_params.c
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@ -31,150 +31,6 @@
*
****************************************************************************/
/**
* @file land_detector.c
* Land detector algorithm parameters.
*
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
/**
* Multicopter max climb rate
*
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);
/**
* Multicopter max horizontal velocity
*
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
/**
* Multicopter max rotation
*
* Maximum allowed angular velocity around each axis allowed in the landed state.
*
* @unit deg/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/**
* Multicopter specific force threshold
*
* Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
*
* @unit m/s^2
* @min 0.1
* @max 10
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
/**
* Multicopter sub-hover throttle scaling
*
* The range between throttle_min and throttle_hover is scaled
* by this parameter to define how close to minimum throttle
* the current throttle value needs to be in order to get
* accepted as landed.
*
* @min 0.05
* @max 0.5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
/**
* Multicopter free-fall trigger time
*
* Seconds (decimal) that freefall conditions have to met before triggering a freefall.
* Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
/**
* Fixedwing max horizontal velocity
*
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
* @min 0.5
* @max 10
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
/**
* Fixedwing max climb rate
*
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @min 5
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
/**
* Fixedwing max short-term velocity
*
* Maximum velocity integral in flight direction allowed in the landed state (m/s)
*
* @unit m/s
* @min 2
* @max 10
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);
/**
* Airspeed max
*
* Maximum airspeed allowed in the landed state (m/s)
*
* @unit m/s
* @min 4
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);
/**
* Total flight time in microseconds
*
@ -198,21 +54,3 @@ PARAM_DEFINE_INT32(LND_FLIGHT_T_HI, 0);
*
*/
PARAM_DEFINE_INT32(LND_FLIGHT_T_LO, 0);
/**
* Maximum altitude for multicopters
*
* The system will obey this limit as a
* hard altitude limit. This setting will
* be consolidated with the GF_MAX_VER_DIST
* parameter.
* A negative value indicates no altitude limitation.
*
* @unit m
* @min -1
* @max 10000
* @decimal 2
* @group Land Detector
*
*/
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);

88
src/modules/land_detector/land_detector_params_fw.c Normal file
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@ -0,0 +1,88 @@
/****************************************************************************
*
* Copyright (c) 2014-2017 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Fixedwing max horizontal velocity
*
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
* @min 0.5
* @max 10
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
/**
* Fixedwing max climb rate
*
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @min 5
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
/**
* Fixedwing max short-term velocity
*
* Maximum velocity integral in flight direction allowed in the landed state (m/s)
*
* @unit m/s
* @min 2
* @max 10
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 8.0f);
/**
* Airspeed max
*
* Maximum airspeed allowed in the landed state (m/s)
*
* @unit m/s
* @min 4
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);

131
src/modules/land_detector/land_detector_params_mc.c Normal file
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@ -0,0 +1,131 @@
/****************************************************************************
*
* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Multicopter max climb rate
*
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);
/**
* Multicopter max horizontal velocity
*
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
/**
* Multicopter max rotation
*
* Maximum allowed angular velocity around each axis allowed in the landed state.
*
* @unit deg/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/**
* Multicopter specific force threshold
*
* Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
*
* @unit m/s^2
* @min 0.1
* @max 10
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
/**
* Multicopter sub-hover throttle scaling
*
* The range between throttle_min and throttle_hover is scaled
* by this parameter to define how close to minimum throttle
* the current throttle value needs to be in order to get
* accepted as landed.
*
* @min 0.05
* @max 0.5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
/**
* Multicopter free-fall trigger time
*
* Seconds (decimal) that freefall conditions have to met before triggering a freefall.
* Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
/**
* Maximum altitude for multicopters
*
* The system will obey this limit as a
* hard altitude limit. This setting will
* be consolidated with the GF_MAX_VER_DIST
* parameter.
* A negative value indicates no altitude limitation.
*
* @unit m
* @min -1
* @max 10000
* @decimal 2
* @group Land Detector
*
*/
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);