diff options
author | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-21 14:41:03 +0100 |
---|---|---|
committer | Thomas Gubler <thomasgubler@gmail.com> | 2015-01-21 14:41:03 +0100 |
commit | dcdde8ea88bf57b0432d2b64ed3ce606795c8d00 (patch) | |
tree | 0bf6e997ffe7f7a9cda98c832dbce39601a9242f /src/modules/land_detector/LandDetector.cpp | |
parent | 3a38b0fe359296aa19ec43ab82743aebeadb335c (diff) | |
parent | e8e4a3b5da058bd2ab8575c095dd74a5484333be (diff) | |
download | px4-firmware-dcdde8ea88bf57b0432d2b64ed3ce606795c8d00.tar.gz px4-firmware-dcdde8ea88bf57b0432d2b64ed3ce606795c8d00.tar.bz2 px4-firmware-dcdde8ea88bf57b0432d2b64ed3ce606795c8d00.zip |
Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge
Conflicts:
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
src/modules/uORB/topics/vehicle_attitude.h
Diffstat (limited to 'src/modules/land_detector/LandDetector.cpp')
-rw-r--r-- | src/modules/land_detector/LandDetector.cpp | 124 |
1 files changed, 124 insertions, 0 deletions
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp new file mode 100644 index 000000000..a4fbb9861 --- /dev/null +++ b/src/modules/land_detector/LandDetector.cpp @@ -0,0 +1,124 @@ +/**************************************************************************** + * + * 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 LandDetector.cpp + * Land detection algorithm + * + * @author Johan Jansen <jnsn.johan@gmail.com> + * @author Morten Lysgaard <morten@lysgaard.no> + */ + +#include "LandDetector.h" +#include <unistd.h> //usleep +#include <drivers/drv_hrt.h> + +LandDetector::LandDetector() : + _landDetectedPub(-1), + _landDetected({0, false}), + _taskShouldExit(false), + _taskIsRunning(false) +{ + // ctor +} + +LandDetector::~LandDetector() +{ + _taskShouldExit = true; + close(_landDetectedPub); +} + +void LandDetector::shutdown() +{ + _taskShouldExit = true; +} + +void LandDetector::start() +{ + // make sure this method has not already been called by another thread + if (isRunning()) { + return; + } + + // advertise the first land detected uORB + _landDetected.timestamp = hrt_absolute_time(); + _landDetected.landed = false; + _landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected); + + // initialize land detection algorithm + initialize(); + + // task is now running, keep doing so until shutdown() has been called + _taskIsRunning = true; + _taskShouldExit = false; + + while (isRunning()) { + + bool landDetected = update(); + + // publish if land detection state has changed + if (_landDetected.landed != landDetected) { + _landDetected.timestamp = hrt_absolute_time(); + _landDetected.landed = landDetected; + + // publish the land detected broadcast + orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected); + } + + // limit loop rate + usleep(1000000 / LAND_DETECTOR_UPDATE_RATE); + } + + _taskIsRunning = false; + _exit(0); +} + +bool LandDetector::orb_update(const struct orb_metadata *meta, int handle, void *buffer) +{ + bool newData = false; + + // check if there is new data to grab + if (orb_check(handle, &newData) != OK) { + return false; + } + + if (!newData) { + return false; + } + + if (orb_copy(meta, handle, buffer) != OK) { + return false; + } + + return true; +} |