diff options
Diffstat (limited to 'src/modules/fw_land_detector/FixedwingLandDetector.h')
| -rw-r--r-- | src/modules/fw_land_detector/FixedwingLandDetector.h | 88 |
1 files changed, 45 insertions, 43 deletions
diff --git a/src/modules/fw_land_detector/FixedwingLandDetector.h b/src/modules/fw_land_detector/FixedwingLandDetector.h index 900445740..be9b17b74 100644 --- a/src/modules/fw_land_detector/FixedwingLandDetector.h +++ b/src/modules/fw_land_detector/FixedwingLandDetector.h @@ -46,61 +46,63 @@ #include <uORB/topics/vehicle_local_position.h> #include <uORB/topics/airspeed.h> -class FixedwingLandDetector { +class FixedwingLandDetector +{ public: - FixedwingLandDetector(); - ~FixedwingLandDetector(); + FixedwingLandDetector(); + ~FixedwingLandDetector(); - /** - * @brief Executes the main loop of the land detector in a separate deamon thread - * @returns OK if task was successfully launched - **/ - int createDeamonThread(); + /** + * @brief Executes the main loop of the land detector in a separate deamon thread + * @returns OK if task was successfully launched + **/ + int createDeamonThread(); - /** - * @returns true if this task is currently running - **/ - bool isRunning() const; + /** + * @returns true if this task is currently running + **/ + bool isRunning() const; - /** - * @brief blocking loop, should be run in a separate thread or task. Runs at 50Hz - **/ - void landDetectorLoop(); + /** + * @brief blocking loop, should be run in a separate thread or task. Runs at 50Hz + **/ + void landDetectorLoop(); - /** - * @brief Tells the Land Detector task that it should exit - **/ - void shutdown(); + /** + * @brief Tells the Land Detector task that it should exit + **/ + void shutdown(); protected: - /** - * @brief polls all subscriptions and pulls any data that has changed - **/ - void updateSubscriptions(); + /** + * @brief polls all subscriptions and pulls any data that has changed + **/ + void updateSubscriptions(); - //Algorithm parameters (TODO: should probably be externalized) - static constexpr uint32_t FW_LAND_DETECTOR_UPDATE_RATE = 50; /**< Run algorithm at 50Hz */ - 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*/ + //Algorithm parameters (TODO: should probably be externalized) + static constexpr uint32_t FW_LAND_DETECTOR_UPDATE_RATE = 50; /**< Run algorithm at 50Hz */ + 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: - orb_advert_t _landDetectedPub; /**< publisher for position in local frame */ - struct vehicle_land_detected_s _landDetected; /**< local vehicle position */ + orb_advert_t _landDetectedPub; /**< publisher for position in local frame */ + struct vehicle_land_detected_s _landDetected; /**< local vehicle position */ - int _vehicleLocalPositionSub; /**< notification of local position */ - struct vehicle_local_position_s _vehicleLocalPosition; /**< the result from local position subscription */ - int _airspeedSub; - struct airspeed_s _airspeed; + 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; - - bool _taskShouldExit; /**< true if it is requested that this task should exit */ - bool _taskIsRunning; /**< task has reached main loop and is currently running */ + float _velocity_xy_filtered; + float _velocity_z_filtered; + float _airspeed_filtered; + uint64_t _landDetectTrigger; + + bool _taskShouldExit; /**< true if it is requested that this task should exit */ + bool _taskIsRunning; /**< task has reached main loop and is currently running */ }; #endif //__FIXED_WING_LAND_DETECTOR_H__ |