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/**
* @file MulticopterLandDetector.h
* Land detection algorithm for multicopters
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Morten Lysgaard <morten@lysgaard.no>
*/
#ifndef __MULTICOPTER_LAND_DETECTOR_H__
#define __MULTICOPTER_LAND_DETECTOR_H__
#include "LandDetector.h"
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <systemlib/param/param.h>
class MulticopterLandDetector : public LandDetector
{
public:
MulticopterLandDetector();
protected:
/**
* @brief polls all subscriptions and pulls any data that has changed
**/
void updateSubscriptions();
/**
* @brief Runs one iteration of the land detection algorithm
**/
bool update() override;
/**
* @brief Initializes the land detection algorithm
**/
void initialize() override;
private:
/**
* @brief download and update local parameter cache
**/
void updateParameterCache(const bool force);
/**
* @brief Handles for interesting parameters
**/
struct {
param_t maxClimbRate;
param_t maxVelocity;
param_t maxRotation;
param_t maxThrottle;
} _paramHandle;
struct {
float maxClimbRate;
float maxVelocity;
float maxRotation;
float maxThrottle;
} _params;
private:
int _vehicleGlobalPositionSub; /**< notification of global position */
int _vehicleStatusSub;
int _actuatorsSub;
int _armingSub;
int _parameterSub;
int _attitudeSub;
struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */
struct vehicle_status_s _vehicleStatus;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
};
#endif //__MULTICOPTER_LAND_DETECTOR_H__