diff options
Diffstat (limited to 'src/modules/mc_land_detector/MulticopterLandDetector.h')
| -rw-r--r-- | src/modules/mc_land_detector/MulticopterLandDetector.h | 111 |
1 files changed, 56 insertions, 55 deletions
diff --git a/src/modules/mc_land_detector/MulticopterLandDetector.h b/src/modules/mc_land_detector/MulticopterLandDetector.h index 1aeaa0d62..fe18374c3 100644 --- a/src/modules/mc_land_detector/MulticopterLandDetector.h +++ b/src/modules/mc_land_detector/MulticopterLandDetector.h @@ -50,66 +50,67 @@ #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_armed.h> -class MulticopterLandDetector { +class MulticopterLandDetector +{ public: - MulticopterLandDetector(); - ~MulticopterLandDetector(); - - /** - * @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; - - /** - * @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(); + MulticopterLandDetector(); + ~MulticopterLandDetector(); + + /** + * @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; + + /** + * @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(); protected: - /** - * @brief polls all subscriptions and pulls any data that has changed - **/ - void updateSubscriptions(); - - //Algorithm parameters (TODO: should probably be externalized) - static constexpr float MC_LAND_DETECTOR_CLIMBRATE_MAX = 0.30f; /**< max +- climb rate in m/s */ - static constexpr float MC_LAND_DETECTOR_ROTATION_MAX = 0.5f; /**< max rotation in rad/sec (= 30 deg/s) */ - static constexpr float MC_LAND_DETECTOR_THRUST_MAX = 0.2f; - static constexpr float MC_LAND_DETECTOR_VELOCITY_MAX = 1.0f; /**< max +- horizontal movement in m/s */ - static constexpr uint32_t MC_LAND_DETECTOR_UPDATE_RATE = 50; /**< Run algorithm at 50Hz */ - static constexpr uint32_t MC_LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold before triggering a land */ + /** + * @brief polls all subscriptions and pulls any data that has changed + **/ + void updateSubscriptions(); + + //Algorithm parameters (TODO: should probably be externalized) + static constexpr float MC_LAND_DETECTOR_CLIMBRATE_MAX = 0.30f; /**< max +- climb rate in m/s */ + static constexpr float MC_LAND_DETECTOR_ROTATION_MAX = 0.5f; /**< max rotation in rad/sec (= 30 deg/s) */ + static constexpr float MC_LAND_DETECTOR_THRUST_MAX = 0.2f; + static constexpr float MC_LAND_DETECTOR_VELOCITY_MAX = 1.0f; /**< max +- horizontal movement in m/s */ + static constexpr uint32_t MC_LAND_DETECTOR_UPDATE_RATE = 50; /**< Run algorithm at 50Hz */ + static constexpr uint32_t MC_LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold before triggering a land */ private: - orb_advert_t _landDetectedPub; /**< publisher for position in local frame */ - struct vehicle_land_detected_s _landDetected; /**< local vehicle position */ - - int _vehicleGlobalPositionSub; /**< notification of global position */ - int _sensorsCombinedSub; - int _waypointSub; - int _actuatorsSub; - int _armingSub; - - 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; - - bool _taskShouldExit; /**< true if it is requested that this task should exit */ - bool _taskIsRunning; /**< task has reached main loop and is currently running */ - - uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/ + orb_advert_t _landDetectedPub; /**< publisher for position in local frame */ + struct vehicle_land_detected_s _landDetected; /**< local vehicle position */ + + int _vehicleGlobalPositionSub; /**< notification of global position */ + int _sensorsCombinedSub; + int _waypointSub; + int _actuatorsSub; + int _armingSub; + + 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; + + bool _taskShouldExit; /**< true if it is requested that this task should exit */ + bool _taskIsRunning; /**< task has reached main loop and is currently running */ + + uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/ }; #endif //__MULTICOPTER_LAND_DETECTOR_H__ |