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

1 files changed, 116 insertions, 0 deletions

diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
new file mode 100644
index 000000000..7bb7f1a90
--- /dev/null
+++ b/src/modules/land_detector/MulticopterLandDetector.h
@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   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 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/sensor_combined.h>
+#include <uORB/topics/position_setpoint_triplet.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 _sensorsCombinedSub;
+	int _waypointSub;
+	int _actuatorsSub;
+	int _armingSub;
+	int _parameterSub;
+
+	struct vehicle_global_position_s          _vehicleGlobalPosition;   /**< the result from global position subscription */
+	struct sensor_combined_s                  _sensors;                 /**< subscribe to sensor readings */
+	struct position_setpoint_triplet_s        _waypoint;                /**< subscribe to autopilot navigation */
+	struct actuator_controls_s                _actuators;
+	struct actuator_armed_s                   _arming;
+
+	uint64_t _landTimer;                                                /**< timestamp in microseconds since a possible land was detected*/
+};
+
+#endif //__MULTICOPTER_LAND_DETECTOR_H__