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FixedwingLandDetector.cpp
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/****************************************************************************
*
* Copyright (c) 2013-2021 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.
*
****************************************************************************/
/**
* @file FixedwingLandDetector.cpp
*
* @author Johan Jansen <[email protected]>
* @author Lorenz Meier <[email protected]>
* @author Julian Oes <[email protected]>
*/
#include "FixedwingLandDetector.h"
namespace land_detector
{
FixedwingLandDetector::FixedwingLandDetector()
{
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
_landed_hysteresis.set_hysteresis_time_from(false, _param_lndfw_trig_time.get() * 1_s);
_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
}
bool FixedwingLandDetector::_get_landed_state()
{
// Only trigger flight conditions if we are armed.
if (!_armed) {
return true;
}
bool landDetected = false;
launch_detection_status_s launch_detection_status{};
_launch_detection_status_sub.copy(&launch_detection_status);
// force the landed state to stay landed if we're currently in the catapult/hand-launch launch process. Detect that we are in this state
// by checking if the last publication of launch_detection_status is less than 0.5s old, and we're not yet in the flying state.
if (_landed_hysteresis.get_state() && hrt_elapsed_time(&launch_detection_status.timestamp) < 500_ms
&& launch_detection_status.launch_detection_state < launch_detection_status_s::STATE_FLYING) {
landDetected = true;
} else if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 1_s) {
float val = 0.0f;
if (_vehicle_local_position.v_xy_valid) {
// Horizontal velocity complimentary filter.
val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
_vehicle_local_position.vy * _vehicle_local_position.vy);
}
if (PX4_ISFINITE(val)) {
_velocity_xy_filtered = val;
}
// Vertical velocity complimentary filter.
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicle_local_position.vz);
if (PX4_ISFINITE(val)) {
_velocity_z_filtered = val;
}
airspeed_validated_s airspeed_validated{};
_airspeed_validated_sub.copy(&airspeed_validated);
bool airspeed_invalid = false;
// set _airspeed_filtered to 0 if airspeed data is invalid
if (!PX4_ISFINITE(airspeed_validated.true_airspeed_m_s) || hrt_elapsed_time(&airspeed_validated.timestamp) > 1_s) {
_airspeed_filtered = 0.0f;
airspeed_invalid = true;
} else {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * airspeed_validated.true_airspeed_m_s;
}
// A leaking lowpass prevents biases from building up, but
// gives a mostly correct response for short impulses.
const float acc_hor = matrix::Vector2f(_acceleration).norm();
_xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f;
// Check for angular velocity
const float rot_vel_hor = _angular_velocity.norm();
val = _velocity_rot_filtered * 0.95f + rot_vel_hor * 0.05f;
if (PX4_ISFINITE(val)) {
_velocity_rot_filtered = val;
}
// make groundspeed threshold tighter if airspeed is invalid
const float vel_xy_max_threshold = airspeed_invalid ? 0.7f * _param_lndfw_vel_xy_max.get() :
_param_lndfw_vel_xy_max.get();
const float max_rotation_threshold = math::radians(_param_lndfw_rot_max.get()) ;
// Crude land detector for fixedwing.
landDetected = _airspeed_filtered < _param_lndfw_airspd.get()
&& _velocity_xy_filtered < vel_xy_max_threshold
&& _velocity_z_filtered < _param_lndfw_vel_z_max.get()
&& _xy_accel_filtered < _param_lndfw_xyaccel_max.get()
&& _velocity_rot_filtered < max_rotation_threshold;
} else {
// Control state topic has timed out and we need to assume we're landed.
landDetected = true;
}
return landDetected;
}
} // namespace land_detector