diff options
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/land_detector/MulticopterLandDetector.cpp | 20 | ||||
-rw-r--r-- | src/modules/land_detector/MulticopterLandDetector.h | 6 | ||||
-rw-r--r-- | src/modules/land_detector/land_detector_params.c | 4 |
3 files changed, 16 insertions, 14 deletions
diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index 277cb9363..cfb3344f9 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -43,26 +43,27 @@ #include <cmath> #include <drivers/drv_hrt.h> +#include <mathlib/mathlib.h> MulticopterLandDetector::MulticopterLandDetector() : LandDetector(), _paramHandle(), _params(), _vehicleGlobalPositionSub(-1), - _sensorsCombinedSub(-1), _waypointSub(-1), _actuatorsSub(-1), _armingSub(-1), _parameterSub(-1), + _attitudeSub(-1), _vehicleGlobalPosition({}), - _sensors({}), _waypoint({}), _actuators({}), _arming({}), + _vehicleAttitude({}), _landTimer(0) { - _paramHandle.maxRotation = param_find("LNDMC_Z_VEL_MAX"); + _paramHandle.maxRotation = param_find("LNDMC_ROT_MAX"); _paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX"); - _paramHandle.maxClimbRate = param_find("LNDMC_ROT_MAX"); + _paramHandle.maxClimbRate = param_find("LNDMC_Z_VEL_MAX"); _paramHandle.maxThrottle = param_find("LNDMC_THR_MAX"); } @@ -70,7 +71,7 @@ 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)); + _attitudeSub = orb_subscribe(ORB_ID(vehicle_attitude)); _waypointSub = orb_subscribe(ORB_ID(position_setpoint_triplet)); _actuatorsSub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); _armingSub = orb_subscribe(ORB_ID(actuator_armed)); @@ -83,7 +84,7 @@ void MulticopterLandDetector::initialize() void MulticopterLandDetector::updateSubscriptions() { orb_update(ORB_ID(vehicle_global_position), _vehicleGlobalPositionSub, &_vehicleGlobalPosition); - orb_update(ORB_ID(sensor_combined), _sensorsCombinedSub, &_sensors); + orb_update(ORB_ID(vehicle_attitude), _attitudeSub, &_vehicleAttitude); 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); @@ -109,9 +110,9 @@ bool MulticopterLandDetector::update() + _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; + bool rotating = sqrtf(_vehicleAttitude.rollspeed*_vehicleAttitude.rollspeed + + _vehicleAttitude.pitchspeed*_vehicleAttitude.pitchspeed + + _vehicleAttitude.yawspeed*_vehicleAttitude.yawspeed) > _params.maxRotation; // check if thrust output is minimal (about half of default) bool minimalThrust = _actuators.control[3] <= _params.maxThrottle; @@ -140,6 +141,7 @@ void MulticopterLandDetector::updateParameterCache(const bool force) param_get(_paramHandle.maxClimbRate, &_params.maxClimbRate); param_get(_paramHandle.maxVelocity, &_params.maxVelocity); param_get(_paramHandle.maxRotation, &_params.maxRotation); + _params.maxRotation = math::radians(_params.maxRotation); param_get(_paramHandle.maxThrottle, &_params.maxThrottle); } } diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 7bb7f1a90..eeb5175cc 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -44,7 +44,7 @@ #include "LandDetector.h" #include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/sensor_combined.h> +#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_armed.h> @@ -98,17 +98,17 @@ private: private: int _vehicleGlobalPositionSub; /**< notification of global position */ - int _sensorsCombinedSub; int _waypointSub; int _actuatorsSub; int _armingSub; int _parameterSub; + int _attitudeSub; 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; + struct vehicle_attitude_s _vehicleAttitude; uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/ }; diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c index 0302bc7c1..d9ab47456 100644 --- a/src/modules/land_detector/land_detector_params.c +++ b/src/modules/land_detector/land_detector_params.c @@ -61,11 +61,11 @@ PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f); /** * Multicopter max rotation * - * Maximum allowed around each axis to trigger a land (radians per second) + * Maximum allowed around each axis to trigger a land (degrees per second) * * @group Land Detector */ -PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 0.20f); +PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 15.0f); /** * Multicopter max throttle |