FixedwingLandDetector.h

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/**
 * @file FixedwingLandDetector.h
 * Land detector implementation for fixedwing.
 *
 * @author Johan Jansen <jnsn.johan@gmail.com>
 * @author Morten Lysgaard <morten@lysgaard.no>
 * @author Julian Oes <julian@oes.ch>
 */

#pragma once

#include <matrix/math.hpp>
#include <uORB/topics/airspeed.h>

#include "LandDetector.h"

using namespace time_literals;

namespace land_detector
{

class FixedwingLandDetector final : public LandDetector
{
public:
    FixedwingLandDetector();
    ~FixedwingLandDetector() override = default;

protected:

    bool _get_landed_state() override;
    void _update_topics() override;

private:

    /** Time in us that landing conditions have to hold before triggering a land. */
    static constexpr hrt_abstime LANDED_TRIGGER_TIME_US = 2_s;
    static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;

    uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};

    airspeed_s _airspeed{};

    float _airspeed_filtered{0.0f};
    float _velocity_xy_filtered{0.0f};
    float _velocity_z_filtered{0.0f};
    float _xy_accel_filtered{0.0f};

    DEFINE_PARAMETERS_CUSTOM_PARENT(
        LandDetector,
        (ParamFloat<px4::params::LNDFW_XYACC_MAX>)  _param_lndfw_xyaccel_max,
        (ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd,
        (ParamFloat<px4::params::LNDFW_VEL_XY_MAX>) _param_lndfw_vel_xy_max,
        (ParamFloat<px4::params::LNDFW_VEL_Z_MAX>)  _param_lndfw_vel_z_max
    );
};

} // namespace land_detector