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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.h
* Land detection algorithm for multicopters
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Morten Lysgaard <Morten@mycptr.com>
*/
#ifndef __MULTICOPTER_LAND_DETECTOR_H__
#define __MULTICOPTER_LAND_DETECTOR_H__
#include <uORB/uORB.h>
#include <uORB/topics/vehicle_land_detected.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>
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();
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 */
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*/
};
#endif //__MULTICOPTER_LAND_DETECTOR_H__
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