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/****************************************************************************
*
* 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("LAND_FW_VELOCITY_MAX");
_paramHandle.maxClimbRate = param_find("LAND_FW_MAX_CLIMB_RATE");
_paramHandle.maxAirSpeed = param_find("LAND_FW_AIR_SPEED_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);
}
}
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