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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 MultiCopterLandDetector.cpp
* Land detection algorithm for multicopters
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Morten Lysgaard <morten@lysgaard.no>
*/
#include "MulticopterLandDetector.h"
#include <stdio.h>
#include <cmath>
#include <drivers/drv_hrt.h>
#include <unistd.h> //usleep
MulticopterLandDetector::MulticopterLandDetector() :
_landDetectedPub(-1),
_landDetected({0,false}),
_vehicleGlobalPositionSub(-1),
_sensorsCombinedSub(-1),
_waypointSub(-1),
_actuatorsSub(-1),
_armingSub(-1),
_vehicleGlobalPosition({}),
_sensors({}),
_waypoint({}),
_actuators({}),
_arming({}),
_taskShouldExit(false),
_taskIsRunning(false),
_landTimer(0)
{
//Advertise the first land detected uORB
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = false;
_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
}
MulticopterLandDetector::~MulticopterLandDetector()
{
_taskShouldExit = true;
close(_landDetectedPub);
}
/**
* @brief Convinience function for polling uORB subscriptions
* @return true if there was new data and it was successfully copied
**/
static bool 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;
}
void MulticopterLandDetector::shutdown()
{
_taskShouldExit = 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);
}
void MulticopterLandDetector::landDetectorLoop()
{
//This should never happen!
if(_taskIsRunning) return;
//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));
//Begin task
_taskIsRunning = true;
_taskShouldExit = false;
while (!_taskShouldExit) {
//First poll for new data from our subscriptions
updateSubscriptions();
const uint64_t now = hrt_absolute_time();
//only detect landing if the autopilot is actively trying to land
if(!_waypoint.current.valid || _waypoint.current.type != SETPOINT_TYPE_LAND) {
_landTimer = now;
}
else {
/*
static int debugcnt = 0;
if(debugcnt++ > 12) {
debugcnt = 0;
mavlink_log_critical(_mavlinkFd, "T: %.4f R: %.4f", (double)_actuators.control[3],
sqrt( _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]));
}
*/
//Check if we are moving vertically
bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > MC_LAND_DETECTOR_CLIMBRATE_MAX;
bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n*_vehicleGlobalPosition.vel_n
+ _vehicleGlobalPosition.vel_e*_vehicleGlobalPosition.vel_e) > MC_LAND_DETECTOR_VELOCITY_MAX;
//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]) > MC_LAND_DETECTOR_ROTATION_MAX;
//Check if thrust output is minimal (about half of default)
bool minimalThrust = _arming.armed && _actuators.control[3] <= MC_LAND_DETECTOR_THRUST_MAX;
if(verticalMovement || rotating || !minimalThrust || horizontalMovement) {
//Sensed movement, so reset the land detector
_landTimer = now;
}
}
// if we have detected a landing for 2 continious seconds
if(now-_landTimer > 2000000) {
if(!_landDetected.landed)
{
_landDetected.timestamp = now;
_landDetected.landed = true;
/* publish the land detected broadcast */
orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected);
}
}
else {
// if we currently think we have landed, but the latest data says we are flying
if(_landDetected.landed)
{
_landDetected.timestamp = now;
_landDetected.landed = false;
/* publish the land detected broadcast */
orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected);
}
}
//Limit loop rate
usleep(1000000 / MC_LAND_DETECTOR_UPDATE_RATE);
}
_taskIsRunning = false;
_exit(0);
}
bool MulticopterLandDetector::isRunning() const
{
return _taskIsRunning;
}
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