LandDetector: Merged fixedwing and multicopter into one module handling both algorithms

1 files changed, 88 insertions, 0 deletions

diff --git a/src/modules/land_detector/FixedwingLandDetector.h b/src/modules/land_detector/FixedwingLandDetector.h
new file mode 100644
index 000000000..faeece6f3
--- /dev/null
+++ b/src/modules/land_detector/FixedwingLandDetector.h
@@ -0,0 +1,88 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 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.h
+ * Land detection algorithm for fixedwing
+ *
+ * @author Johan Jansen <jnsn.johan@gmail.com>
+ */
+
+#ifndef __FIXED_WING_LAND_DETECTOR_H__
+#define __FIXED_WING_LAND_DETECTOR_H__
+
+#include "LandDetector.h"
+#include <uORB/topics/vehicle_local_position.h>
+#include <uORB/topics/airspeed.h>
+
+class FixedwingLandDetector : public LandDetector
+{
+public:
+    FixedwingLandDetector();
+
+protected:
+    /**
+    * @brief  blocking loop, should be run in a separate thread or task. Runs at 50Hz
+    **/
+    bool update() override;
+
+    /**
+    * @brief Initializes the land detection algorithm
+    **/
+    void initialize() override;
+
+    /**
+    * @brief  polls all subscriptions and pulls any data that has changed
+    **/
+    void updateSubscriptions();
+
+    //Algorithm parameters (TODO: should probably be externalized)
+    static constexpr uint64_t FW_LAND_DETECTOR_TRIGGER_TIME = 2000000;  /**< usec that landing conditions have to hold 
+                                                                             before triggering a land */
+    static constexpr float FW_LAND_DETECTOR_VELOCITY_MAX = 5.0f;        /**< maximum horizontal movement m/s*/
+    static constexpr float FW_LAND_DETECTOR_CLIMBRATE_MAX = 10.00f;     /**< +- climb rate in m/s*/
+    static constexpr float FW_LAND_DETECTOR_AIRSPEED_MAX = 10.00f;      /**< airspeed max m/s*/
+
+private:
+    int                                     _vehicleLocalPositionSub;   /**< notification of local position */
+    struct vehicle_local_position_s         _vehicleLocalPosition;      /**< the result from local position subscription */
+    int                                     _airspeedSub;
+    struct airspeed_s                       _airspeed;
+
+    float _velocity_xy_filtered;
+    float _velocity_z_filtered;
+    float _airspeed_filtered;
+    uint64_t _landDetectTrigger;
+};
+
+#endif //__FIXED_WING_LAND_DETECTOR_H__