diff options
Diffstat (limited to 'src/modules/land_detector')
-rw-r--r-- | src/modules/land_detector/FixedwingLandDetector.cpp | 125 | ||||
-rw-r--r-- | src/modules/land_detector/FixedwingLandDetector.h | 105 | ||||
-rw-r--r-- | src/modules/land_detector/LandDetector.cpp | 124 | ||||
-rw-r--r-- | src/modules/land_detector/LandDetector.h | 104 | ||||
-rw-r--r-- | src/modules/land_detector/MulticopterLandDetector.cpp | 145 | ||||
-rw-r--r-- | src/modules/land_detector/MulticopterLandDetector.h | 116 | ||||
-rw-r--r-- | src/modules/land_detector/land_detector_main.cpp | 214 | ||||
-rw-r--r-- | src/modules/land_detector/land_detector_params.c | 104 | ||||
-rw-r--r-- | src/modules/land_detector/module.mk | 13 |
9 files changed, 1050 insertions, 0 deletions
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp new file mode 100644 index 000000000..8e5bcf7ba --- /dev/null +++ b/src/modules/land_detector/FixedwingLandDetector.cpp @@ -0,0 +1,125 @@ +/**************************************************************************** + * + * 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.cpp + * Land detection algorithm for fixedwings + * + * @author Johan Jansen <jnsn.johan@gmail.com> + */ + +#include "FixedwingLandDetector.h" + +#include <cmath> +#include <drivers/drv_hrt.h> + +FixedwingLandDetector::FixedwingLandDetector() : LandDetector(), + _paramHandle(), + _params(), + _vehicleLocalPositionSub(-1), + _vehicleLocalPosition({}), + _airspeedSub(-1), + _airspeed({}), + _parameterSub(-1), + _velocity_xy_filtered(0.0f), + _velocity_z_filtered(0.0f), + _airspeed_filtered(0.0f), + _landDetectTrigger(0) +{ + _paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX"); + _paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX"); + _paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX"); +} + +void FixedwingLandDetector::initialize() +{ + // Subscribe to local position and airspeed data + _vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position)); + _airspeedSub = orb_subscribe(ORB_ID(airspeed)); +} + +void FixedwingLandDetector::updateSubscriptions() +{ + orb_update(ORB_ID(vehicle_local_position), _vehicleLocalPositionSub, &_vehicleLocalPosition); + orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed); +} + +bool FixedwingLandDetector::update() +{ + // First poll for new data from our subscriptions + updateSubscriptions(); + + const uint64_t now = hrt_absolute_time(); + bool landDetected = false; + + // TODO: reset filtered values on arming? + _velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx * + _vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy); + _velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz); + _airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s; + + // crude land detector for fixedwing + if (_velocity_xy_filtered < _params.maxVelocity + && _velocity_z_filtered < _params.maxClimbRate + && _airspeed_filtered < _params.maxAirSpeed) { + + // these conditions need to be stable for a period of time before we trust them + if (now > _landDetectTrigger) { + landDetected = true; + } + + } else { + // reset land detect trigger + _landDetectTrigger = now + LAND_DETECTOR_TRIGGER_TIME; + } + + return landDetected; +} + +void FixedwingLandDetector::updateParameterCache(const bool force) +{ + bool updated; + parameter_update_s paramUpdate; + + orb_check(_parameterSub, &updated); + + if (updated) { + orb_copy(ORB_ID(parameter_update), _parameterSub, ¶mUpdate); + } + + if (updated || force) { + param_get(_paramHandle.maxVelocity, &_params.maxVelocity); + param_get(_paramHandle.maxClimbRate, &_params.maxClimbRate); + param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed); + } +} diff --git a/src/modules/land_detector/FixedwingLandDetector.h b/src/modules/land_detector/FixedwingLandDetector.h new file mode 100644 index 000000000..0e9c092ee --- /dev/null +++ b/src/modules/land_detector/FixedwingLandDetector.h @@ -0,0 +1,105 @@ +/**************************************************************************** + * + * 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> +#include <uORB/topics/parameter_update.h> +#include <systemlib/param/param.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(); + +private: + /** + * @brief download and update local parameter cache + **/ + void updateParameterCache(const bool force); + + /** + * @brief Handles for interesting parameters + **/ + struct { + param_t maxVelocity; + param_t maxClimbRate; + param_t maxAirSpeed; + } _paramHandle; + + struct { + float maxVelocity; + float maxClimbRate; + float maxAirSpeed; + } _params; + +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; + int _parameterSub; + + float _velocity_xy_filtered; + float _velocity_z_filtered; + float _airspeed_filtered; + uint64_t _landDetectTrigger; +}; + +#endif //__FIXED_WING_LAND_DETECTOR_H__ 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; +} diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h new file mode 100644 index 000000000..09db6e474 --- /dev/null +++ b/src/modules/land_detector/LandDetector.h @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * 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.h + * Abstract interface for land detector algorithms + * + * @author Johan Jansen <jnsn.johan@gmail.com> + */ + +#ifndef __LAND_DETECTOR_H__ +#define __LAND_DETECTOR_H__ + +#include <uORB/uORB.h> +#include <uORB/topics/vehicle_land_detected.h> + +class LandDetector +{ +public: + + LandDetector(); + virtual ~LandDetector(); + + /** + * @return true if this task is currently running + **/ + inline bool isRunning() const {return _taskIsRunning;} + + /** + * @brief Tells the Land Detector task that it should exit + **/ + void shutdown(); + + /** + * @brief Blocking function that should be called from it's own task thread. This method will + * run the underlying algorithm at the desired update rate and publish if the landing state changes. + **/ + void start(); + +protected: + + /** + * @brief Pure abstract method that must be overriden by sub-classes. This actually runs the underlying algorithm + * @return true if a landing was detected and this should be broadcast to the rest of the system + **/ + virtual bool update() = 0; + + /** + * @brief Pure abstract method that is called by this class once for initializing the uderlying algorithm (memory allocation, + * uORB topic subscription, creating file descriptors, etc.) + **/ + virtual void initialize() = 0; + + /** + * @brief Convinience function for polling uORB subscriptions + * @return true if there was new data and it was successfully copied + **/ + bool orb_update(const struct orb_metadata *meta, int handle, void *buffer); + + static constexpr uint32_t LAND_DETECTOR_UPDATE_RATE = 50; /**< Run algorithm at 50Hz */ + + static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold + before triggering a land */ + +protected: + orb_advert_t _landDetectedPub; /**< publisher for position in local frame */ + struct vehicle_land_detected_s _landDetected; /**< local vehicle position */ + +private: + bool _taskShouldExit; /**< true if it is requested that this task should exit */ + bool _taskIsRunning; /**< task has reached main loop and is currently running */ +}; + +#endif //__LAND_DETECTOR_H__ diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp new file mode 100644 index 000000000..277cb9363 --- /dev/null +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -0,0 +1,145 @@ +/**************************************************************************** + * + * 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.cpp + * Land detection algorithm for multicopters + * + * @author Johan Jansen <jnsn.johan@gmail.com> + * @author Morten Lysgaard <morten@lysgaard.no> + */ + +#include "MulticopterLandDetector.h" + +#include <cmath> +#include <drivers/drv_hrt.h> + +MulticopterLandDetector::MulticopterLandDetector() : LandDetector(), + _paramHandle(), + _params(), + _vehicleGlobalPositionSub(-1), + _sensorsCombinedSub(-1), + _waypointSub(-1), + _actuatorsSub(-1), + _armingSub(-1), + _parameterSub(-1), + _vehicleGlobalPosition({}), + _sensors({}), + _waypoint({}), + _actuators({}), + _arming({}), + _landTimer(0) +{ + _paramHandle.maxRotation = param_find("LNDMC_Z_VEL_MAX"); + _paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX"); + _paramHandle.maxClimbRate = param_find("LNDMC_ROT_MAX"); + _paramHandle.maxThrottle = param_find("LNDMC_THR_MAX"); +} + +void MulticopterLandDetector::initialize() +{ + // subscribe to position, attitude, arming and velocity changes + _vehicleGlobalPositionSub = orb_subscribe(ORB_ID(vehicle_global_position)); + _sensorsCombinedSub = orb_subscribe(ORB_ID(sensor_combined)); + _waypointSub = orb_subscribe(ORB_ID(position_setpoint_triplet)); + _actuatorsSub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); + _armingSub = orb_subscribe(ORB_ID(actuator_armed)); + _parameterSub = orb_subscribe(ORB_ID(parameter_update)); + + // download parameters + updateParameterCache(true); +} + +void MulticopterLandDetector::updateSubscriptions() +{ + orb_update(ORB_ID(vehicle_global_position), _vehicleGlobalPositionSub, &_vehicleGlobalPosition); + orb_update(ORB_ID(sensor_combined), _sensorsCombinedSub, &_sensors); + orb_update(ORB_ID(position_setpoint_triplet), _waypointSub, &_waypoint); + orb_update(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _actuatorsSub, &_actuators); + orb_update(ORB_ID(actuator_armed), _armingSub, &_arming); +} + +bool MulticopterLandDetector::update() +{ + // first poll for new data from our subscriptions + updateSubscriptions(); + + // only trigger flight conditions if we are armed + if (!_arming.armed) { + return true; + } + + const uint64_t now = hrt_absolute_time(); + + // check if we are moving vertically + bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > _params.maxClimbRate; + + // check if we are moving horizontally + bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n * _vehicleGlobalPosition.vel_n + + _vehicleGlobalPosition.vel_e * _vehicleGlobalPosition.vel_e) > _params.maxVelocity; + + // next look if all rotation angles are not moving + bool rotating = sqrtf(_sensors.gyro_rad_s[0] * _sensors.gyro_rad_s[0] + + _sensors.gyro_rad_s[1] * _sensors.gyro_rad_s[1] + + _sensors.gyro_rad_s[2] * _sensors.gyro_rad_s[2]) > _params.maxRotation; + + // check if thrust output is minimal (about half of default) + bool minimalThrust = _actuators.control[3] <= _params.maxThrottle; + + if (verticalMovement || rotating || !minimalThrust || horizontalMovement) { + // sensed movement, so reset the land detector + _landTimer = now; + return false; + } + + return now - _landTimer > LAND_DETECTOR_TRIGGER_TIME; +} + +void MulticopterLandDetector::updateParameterCache(const bool force) +{ + bool updated; + parameter_update_s paramUpdate; + + orb_check(_parameterSub, &updated); + + if (updated) { + orb_copy(ORB_ID(parameter_update), _parameterSub, ¶mUpdate); + } + + if (updated || force) { + param_get(_paramHandle.maxClimbRate, &_params.maxClimbRate); + param_get(_paramHandle.maxVelocity, &_params.maxVelocity); + param_get(_paramHandle.maxRotation, &_params.maxRotation); + param_get(_paramHandle.maxThrottle, &_params.maxThrottle); + } +} 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__ diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp new file mode 100644 index 000000000..1e43e7ad5 --- /dev/null +++ b/src/modules/land_detector/land_detector_main.cpp @@ -0,0 +1,214 @@ +/**************************************************************************** + * + * 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 land_detector_main.cpp + * Land detection algorithm + * + * @author Johan Jansen <jnsn.johan@gmail.com> + */ + +#include <unistd.h> //usleep +#include <stdio.h> +#include <string.h> +#include <stdlib.h> +#include <errno.h> +#include <drivers/drv_hrt.h> +#include <systemlib/systemlib.h> //Scheduler +#include <systemlib/err.h> //print to console + +#include "FixedwingLandDetector.h" +#include "MulticopterLandDetector.h" + +//Function prototypes +static int land_detector_start(const char *mode); +static void land_detector_stop(); + +/** + * land detector app start / stop handling function + * This makes the land detector module accessible from the nuttx shell + * @ingroup apps + */ +extern "C" __EXPORT int land_detector_main(int argc, char *argv[]); + +//Private variables +static LandDetector *land_detector_task = nullptr; +static int _landDetectorTaskID = -1; +static char _currentMode[12]; + +/** +* Deamon thread function +**/ +static void land_detector_deamon_thread(int argc, char *argv[]) +{ + land_detector_task->start(); +} + +/** +* Stop the task, force killing it if it doesn't stop by itself +**/ +static void land_detector_stop() +{ + if (land_detector_task == nullptr || _landDetectorTaskID == -1) { + errx(1, "not running"); + return; + } + + land_detector_task->shutdown(); + + //Wait for task to die + int i = 0; + + do { + /* wait 20ms */ + usleep(20000); + + /* if we have given up, kill it */ + if (++i > 50) { + task_delete(_landDetectorTaskID); + break; + } + } while (land_detector_task->isRunning()); + + + delete land_detector_task; + land_detector_task = nullptr; + _landDetectorTaskID = -1; + errx(0, "land_detector has been stopped"); +} + +/** +* Start new task, fails if it is already running. Returns OK if successful +**/ +static int land_detector_start(const char *mode) +{ + if (land_detector_task != nullptr || _landDetectorTaskID != -1) { + errx(1, "already running"); + return -1; + } + + //Allocate memory + if (!strcmp(mode, "fixedwing")) { + land_detector_task = new FixedwingLandDetector(); + + } else if (!strcmp(mode, "multicopter")) { + land_detector_task = new MulticopterLandDetector(); + + } else { + errx(1, "[mode] must be either 'fixedwing' or 'multicopter'"); + return -1; + } + + //Check if alloc worked + if (land_detector_task == nullptr) { + errx(1, "alloc failed"); + return -1; + } + + //Start new thread task + _landDetectorTaskID = task_spawn_cmd("land_detector", + SCHED_DEFAULT, + SCHED_PRIORITY_DEFAULT, + 1200, + (main_t)&land_detector_deamon_thread, + nullptr); + + if (_landDetectorTaskID < 0) { + errx(1, "task start failed: %d", -errno); + return -1; + } + + /* avoid memory fragmentation by not exiting start handler until the task has fully started */ + const uint32_t timeout = hrt_absolute_time() + 5000000; //5 second timeout + + while (!land_detector_task->isRunning()) { + usleep(50000); + printf("."); + fflush(stdout); + + if (hrt_absolute_time() > timeout) { + err(1, "start failed - timeout"); + land_detector_stop(); + exit(1); + } + } + + printf("\n"); + + //Remember current active mode + strncpy(_currentMode, mode, 12); + + exit(0); + return 0; +} + +/** +* Main entry point for this module +**/ +int land_detector_main(int argc, char *argv[]) +{ + + if (argc < 1) { + warnx("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'"); + exit(0); + } + + if (argc >= 2 && !strcmp(argv[1], "start")) { + land_detector_start(argv[2]); + } + + if (!strcmp(argv[1], "stop")) { + land_detector_stop(); + exit(0); + } + + if (!strcmp(argv[1], "status")) { + if (land_detector_task) { + + if (land_detector_task->isRunning()) { + warnx("running (%s)", _currentMode); + + } else { + errx(1, "exists, but not running (%s)", _currentMode); + } + + exit(0); + + } else { + errx(1, "not running"); + } + } + + warn("usage: land_detector {start|stop|status} [mode]\nmode can either be 'fixedwing' or 'multicopter'"); + return 1; +} diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c new file mode 100644 index 000000000..0302bc7c1 --- /dev/null +++ b/src/modules/land_detector/land_detector_params.c @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (c) 2014, 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 land_detector.c + * Land detector algorithm parameters. + * + * @author Johan Jansen <jnsn.johan@gmail.com> + */ + +#include <systemlib/param/param.h> + +/** + * Multicopter max climb rate + * + * Maximum vertical velocity allowed to trigger a land (m/s up and down) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.30f); + +/** + * Multicopter max horizontal velocity + * + * Maximum horizontal velocity allowed to trigger a land (m/s) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f); + +/** + * Multicopter max rotation + * + * Maximum allowed around each axis to trigger a land (radians per second) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 0.20f); + +/** + * Multicopter max throttle + * + * Maximum actuator output on throttle before triggering a land + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f); + +/** + * Fixedwing max horizontal velocity + * + * Maximum horizontal velocity allowed to trigger a land (m/s) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 0.20f); + +/** + * Fixedwing max climb rate + * + * Maximum vertical velocity allowed to trigger a land (m/s up and down) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.00f); + +/** + * Airspeed max + * + * Maximum airspeed allowed to trigger a land (m/s) + * + * @group Land Detector + */ +PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 10.00f); diff --git a/src/modules/land_detector/module.mk b/src/modules/land_detector/module.mk new file mode 100644 index 000000000..e08a4b7a8 --- /dev/null +++ b/src/modules/land_detector/module.mk @@ -0,0 +1,13 @@ +# +# Land detector +# + +MODULE_COMMAND = land_detector + +SRCS = land_detector_main.cpp \ + land_detector_params.c \ + LandDetector.cpp \ + MulticopterLandDetector.cpp \ + FixedwingLandDetector.cpp + +EXTRACXXFLAGS = -Weffc++ -Os |