#include <LandDetector.h>

Inheritance diagram for land_detector::LandDetector:

Collaboration diagram for land_detector::LandDetector:

Public Member Functions
	LandDetector ()

virtual	~LandDetector ()

int	print_status () override

void	start ()
	Get the work queue going. More...

Static Public Member Functions
static int	custom_command (int argc, char *argv[])

static int	print_usage (const char *reason=nullptr)

static int	task_spawn (int argc, char *argv[])

Protected Member Functions
virtual void	_update_params ()
	Updates parameters. More...

virtual void	_update_topics ()
	Updates subscribed uORB topics. More...

virtual bool	_get_landed_state ()=0

virtual bool	_get_maybe_landed_state ()

virtual bool	_get_ground_contact_state ()

virtual bool	_get_freefall_state ()

virtual float	_get_max_altitude ()

virtual bool	_get_ground_effect_state ()

Protected Attributes
systemlib::Hysteresis	_freefall_hysteresis {false}

systemlib::Hysteresis	_landed_hysteresis {true}

systemlib::Hysteresis	_maybe_landed_hysteresis {true}

systemlib::Hysteresis	_ground_contact_hysteresis {true}

systemlib::Hysteresis	_ground_effect_hysteresis {false}

actuator_armed_s	_actuator_armed {}

vehicle_acceleration_s	_vehicle_acceleration {}

vehicle_land_detected_s	_land_detected

vehicle_local_position_s	_vehicle_local_position {}

uORB::Publication< vehicle_land_detected_s >	_vehicle_land_detected_pub {ORB_ID(vehicle_land_detected)}

Static Protected Attributes
static constexpr uint32_t	LAND_DETECTOR_UPDATE_INTERVAL = 20_ms
	Run main land detector loop at this interval. More...

Private Member Functions
void	Run () override

void	_update_state ()

void	_update_total_flight_time ()

	DEFINE_PARAMETERS_CUSTOM_PARENT (ModuleParams,(ParamInt< px4::params::LND_FLIGHT_T_HI >) _param_total_flight_time_high,(ParamInt< px4::params::LND_FLIGHT_T_LO >) _param_total_flight_time_low)

Private Attributes
bool	_previous_armed_state {false}
	stores the previous actuator_armed.armed state More...

hrt_abstime	_takeoff_time {0}

hrt_abstime	_total_flight_time {0}
	total vehicle flight time in microseconds More...

perf_counter_t	_cycle_perf {perf_alloc(PC_ELAPSED, "land_detector_cycle")}

uORB::Subscription	_actuator_armed_sub {ORB_ID(actuator_armed)}

uORB::Subscription	_parameter_update_sub {ORB_ID(parameter_update)}

uORB::Subscription	_vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}

uORB::Subscription	_vehicle_local_position_sub {ORB_ID(vehicle_local_position)}

Detailed Description

Definition at line 70 of file LandDetector.h.

Constructor & Destructor Documentation

◆ LandDetector()

land_detector::LandDetector::LandDetector ( )

Definition at line 48 of file LandDetector.cpp.

◆ ~LandDetector()

land_detector::LandDetector::~LandDetector ( )

virtual

Definition at line 53 of file LandDetector.cpp.

References _cycle_perf, and perf_free().

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Member Function Documentation

◆ _get_freefall_state()

virtual bool land_detector::LandDetector::_get_freefall_state ( )

inlineprotectedvirtual

Returns: true if UAV is in free-fall state.

Reimplemented in land_detector::MulticopterLandDetector.

Definition at line 127 of file LandDetector.h.

Referenced by _update_state().

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◆ _get_ground_contact_state()

virtual bool land_detector::LandDetector::_get_ground_contact_state ( )

inlineprotectedvirtual

Returns: true if UAV is touching ground but not landed

Reimplemented in land_detector::MulticopterLandDetector, and land_detector::RoverLandDetector.

Definition at line 122 of file LandDetector.h.

Referenced by _update_state().

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◆ _get_ground_effect_state()

virtual bool land_detector::LandDetector::_get_ground_effect_state ( )

inlineprotectedvirtual

Returns: true if vehicle could be in ground effect (close to ground)

Reimplemented in land_detector::MulticopterLandDetector.

Definition at line 137 of file LandDetector.h.

Referenced by _update_state().

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◆ _get_landed_state()

virtual bool land_detector::LandDetector::_get_landed_state ( )

protectedpure virtual

Returns: true if UAV is in a landed state.

Implemented in land_detector::MulticopterLandDetector, land_detector::FixedwingLandDetector, land_detector::VtolLandDetector, and land_detector::RoverLandDetector.

Referenced by _update_state().

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◆ _get_max_altitude()

virtual float land_detector::LandDetector::_get_max_altitude ( )

inlineprotectedvirtual

Returns: maximum altitude that can be reached

Reimplemented in land_detector::MulticopterLandDetector.

Definition at line 132 of file LandDetector.h.

Referenced by Run().

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◆ _get_maybe_landed_state()

virtual bool land_detector::LandDetector::_get_maybe_landed_state ( )

inlineprotectedvirtual

Returns: true if UAV is in almost landed state

Reimplemented in land_detector::MulticopterLandDetector, and land_detector::VtolLandDetector.

Definition at line 117 of file LandDetector.h.

Referenced by _update_state().

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◆ _update_params()

void land_detector::LandDetector::_update_params ( )

protectedvirtual

Updates parameters.

Reimplemented in land_detector::MulticopterLandDetector.

Definition at line 137 of file LandDetector.cpp.

References _parameter_update_sub, _update_total_flight_time(), and uORB::Subscription::copy().

Referenced by land_detector::MulticopterLandDetector::_update_params(), Run(), and start().

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◆ _update_state()

void land_detector::LandDetector::_update_state ( )

private

Definition at line 146 of file LandDetector.cpp.

References _freefall_hysteresis, _get_freefall_state(), _get_ground_contact_state(), _get_ground_effect_state(), _get_landed_state(), _get_maybe_landed_state(), _ground_contact_hysteresis, _ground_effect_hysteresis, _landed_hysteresis, _maybe_landed_hysteresis, hrt_absolute_time(), hrt_abstime, and systemlib::Hysteresis::set_state_and_update().

Referenced by Run().

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◆ _update_topics()

void land_detector::LandDetector::_update_topics ( )

protectedvirtual

Updates subscribed uORB topics.

Reimplemented in land_detector::MulticopterLandDetector, land_detector::FixedwingLandDetector, and land_detector::VtolLandDetector.

Definition at line 158 of file LandDetector.cpp.

References _actuator_armed, _actuator_armed_sub, _vehicle_acceleration, _vehicle_acceleration_sub, _vehicle_local_position, _vehicle_local_position_sub, and uORB::Subscription::update().

Referenced by land_detector::FixedwingLandDetector::_update_topics(), land_detector::MulticopterLandDetector::_update_topics(), and Run().

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◆ _update_total_flight_time()

void land_detector::LandDetector::_update_total_flight_time ( )

private

Definition at line 165 of file LandDetector.cpp.

References _total_flight_time.

Referenced by _update_params().

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◆ custom_command()

static int land_detector::LandDetector::custom_command	(	int	argc,
		char *	argv[]
	)

inlinestatic

See also: ModuleBase

Definition at line 79 of file LandDetector.h.

References print_status(), print_usage(), and start().

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◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

land_detector::LandDetector::DEFINE_PARAMETERS_CUSTOM_PARENT	(	ModuleParams	,
		(ParamInt< px4::params::LND_FLIGHT_T_HI >)	_param_total_flight_time_high,
		(ParamInt< px4::params::LND_FLIGHT_T_LO >)	_param_total_flight_time_low
	)

private

◆ print_status()

int land_detector::LandDetector::print_status ( )

override

See also: ModuleBase::print_status()

Definition at line 104 of file land_detector_main.cpp.

◆ print_usage()

int land_detector::LandDetector::print_usage ( const char * reason = nullptr )

static

See also: ModuleBase

Definition at line 109 of file land_detector_main.cpp.

Referenced by task_spawn().

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◆ Run()

void land_detector::LandDetector::Run ( )

overrideprivate

Definition at line 64 of file LandDetector.cpp.

References _actuator_armed, _actuator_armed_sub, _cycle_perf, _freefall_hysteresis, _get_max_altitude(), _ground_contact_hysteresis, _ground_effect_hysteresis, _land_detected, _landed_hysteresis, _maybe_landed_hysteresis, _parameter_update_sub, _previous_armed_state, _takeoff_time, _total_flight_time, _update_params(), _update_state(), _update_topics(), _vehicle_land_detected_pub, vehicle_land_detected_s::alt_max, actuator_armed_s::armed, FLT_EPSILON, vehicle_land_detected_s::freefall, systemlib::Hysteresis::get_state(), vehicle_land_detected_s::ground_contact, hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), vehicle_land_detected_s::in_ground_effect, vehicle_land_detected_s::landed, vehicle_land_detected_s::maybe_landed, perf_begin(), perf_end(), uORB::Publication< T >::publish(), vehicle_land_detected_s::timestamp, uORB::Subscription::update(), and uORB::Subscription::updated().

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◆ start()

void land_detector::LandDetector::start ( )

Get the work queue going.

Definition at line 58 of file LandDetector.cpp.

References _update_params(), and LAND_DETECTOR_UPDATE_INTERVAL.

Referenced by task_spawn().

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◆ task_spawn()

int land_detector::LandDetector::task_spawn	(	int	argc,
		char *	argv[]
	)

static

Definition at line 61 of file land_detector_main.cpp.

References land_detector::_currentMode, print_usage(), and start().

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Member Data Documentation

◆ _actuator_armed

actuator_armed_s land_detector::LandDetector::_actuator_armed {}

protected

Definition at line 148 of file LandDetector.h.

Referenced by land_detector::MulticopterLandDetector::_get_ground_contact_state(), land_detector::RoverLandDetector::_get_landed_state(), land_detector::VtolLandDetector::_get_landed_state(), land_detector::FixedwingLandDetector::_get_landed_state(), land_detector::MulticopterLandDetector::_get_landed_state(), land_detector::VtolLandDetector::_get_maybe_landed_state(), land_detector::MulticopterLandDetector::_get_maybe_landed_state(), _update_topics(), and Run().

◆ _actuator_armed_sub

uORB::Subscription land_detector::LandDetector::_actuator_armed_sub {ORB_ID(actuator_armed)}

private

Definition at line 179 of file LandDetector.h.

Referenced by _update_topics(), and Run().

◆ _cycle_perf

perf_counter_t land_detector::LandDetector::_cycle_perf {perf_alloc(PC_ELAPSED, "land_detector_cycle")}

private

Definition at line 177 of file LandDetector.h.

Referenced by Run(), and ~LandDetector().

◆ _freefall_hysteresis

systemlib::Hysteresis land_detector::LandDetector::_freefall_hysteresis {false}

protected

Definition at line 142 of file LandDetector.h.

Referenced by land_detector::MulticopterLandDetector::_update_params(), _update_state(), and Run().

◆ _ground_contact_hysteresis

systemlib::Hysteresis land_detector::LandDetector::_ground_contact_hysteresis {true}

protected

Definition at line 145 of file LandDetector.h.

Referenced by land_detector::MulticopterLandDetector::_get_maybe_landed_state(), _update_state(), land_detector::MulticopterLandDetector::MulticopterLandDetector(), and Run().

◆ _ground_effect_hysteresis

systemlib::Hysteresis land_detector::LandDetector::_ground_effect_hysteresis {false}

protected

Definition at line 146 of file LandDetector.h.

Referenced by _update_state(), and Run().

◆ _land_detected

vehicle_land_detected_s land_detector::LandDetector::_land_detected

protected

Initial value:

= {
        .timestamp = 0,
        .alt_max = -1.0f,
        .freefall = false,
        .ground_contact = true,
        .maybe_landed = true,
        .landed = true,
    }

Definition at line 151 of file LandDetector.h.

Referenced by Run().

◆ _landed_hysteresis

systemlib::Hysteresis land_detector::LandDetector::_landed_hysteresis {true}

protected

Definition at line 143 of file LandDetector.h.

Referenced by _update_state(), land_detector::FixedwingLandDetector::FixedwingLandDetector(), land_detector::MulticopterLandDetector::MulticopterLandDetector(), and Run().

◆ _maybe_landed_hysteresis

systemlib::Hysteresis land_detector::LandDetector::_maybe_landed_hysteresis {true}

protected

Definition at line 144 of file LandDetector.h.

Referenced by land_detector::MulticopterLandDetector::_get_landed_state(), _update_state(), land_detector::MulticopterLandDetector::MulticopterLandDetector(), and Run().

◆ _parameter_update_sub

uORB::Subscription land_detector::LandDetector::_parameter_update_sub {ORB_ID(parameter_update)}

private

Definition at line 180 of file LandDetector.h.

Referenced by _update_params(), and Run().

◆ _previous_armed_state

bool land_detector::LandDetector::_previous_armed_state {false}

private

stores the previous actuator_armed.armed state

Definition at line 172 of file LandDetector.h.

Referenced by Run().

◆ _takeoff_time

hrt_abstime land_detector::LandDetector::_takeoff_time {0}

private

Definition at line 174 of file LandDetector.h.

Referenced by Run().

◆ _total_flight_time

hrt_abstime land_detector::LandDetector::_total_flight_time {0}

private

total vehicle flight time in microseconds

Definition at line 175 of file LandDetector.h.

Referenced by _update_total_flight_time(), and Run().

◆ _vehicle_acceleration

vehicle_acceleration_s land_detector::LandDetector::_vehicle_acceleration {}

protected

Definition at line 149 of file LandDetector.h.

Referenced by land_detector::MulticopterLandDetector::_get_freefall_state(), land_detector::FixedwingLandDetector::_get_landed_state(), and _update_topics().

◆ _vehicle_acceleration_sub

uORB::Subscription land_detector::LandDetector::_vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}

private

Definition at line 181 of file LandDetector.h.

Referenced by _update_topics().

◆ _vehicle_land_detected_pub

uORB::Publication<vehicle_land_detected_s> land_detector::LandDetector::_vehicle_land_detected_pub {ORB_ID(vehicle_land_detected)}

protected

Definition at line 162 of file LandDetector.h.

Referenced by Run().

◆ _vehicle_local_position

vehicle_local_position_s land_detector::LandDetector::_vehicle_local_position {}

protected

Definition at line 160 of file LandDetector.h.

Referenced by land_detector::MulticopterLandDetector::_get_ground_contact_state(), land_detector::FixedwingLandDetector::_get_landed_state(), land_detector::MulticopterLandDetector::_has_altitude_lock(), land_detector::MulticopterLandDetector::_has_position_lock(), and _update_topics().

◆ _vehicle_local_position_sub

uORB::Subscription land_detector::LandDetector::_vehicle_local_position_sub {ORB_ID(vehicle_local_position)}

private

Definition at line 182 of file LandDetector.h.

Referenced by _update_topics().

◆ LAND_DETECTOR_UPDATE_INTERVAL

constexpr uint32_t land_detector::LandDetector::LAND_DETECTOR_UPDATE_INTERVAL = 20_ms

staticprotected

Run main land detector loop at this interval.

Definition at line 140 of file LandDetector.h.

Referenced by start().

The documentation for this class was generated from the following files:

src/modules/land_detector/LandDetector.h
src/modules/land_detector/land_detector_main.cpp
src/modules/land_detector/LandDetector.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LandDetector()

◆ ~LandDetector()

Member Function Documentation

◆ _get_freefall_state()

◆ _get_ground_contact_state()

◆ _get_ground_effect_state()

◆ _get_landed_state()

◆ _get_max_altitude()

◆ _get_maybe_landed_state()

◆ _update_params()

◆ _update_state()

◆ _update_topics()

◆ _update_total_flight_time()

◆ custom_command()

◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

◆ print_status()

◆ print_usage()

◆ Run()

◆ start()

◆ task_spawn()

Member Data Documentation

◆ _actuator_armed

◆ _actuator_armed_sub

◆ _cycle_perf

◆ _freefall_hysteresis

◆ _ground_contact_hysteresis

◆ _ground_effect_hysteresis

◆ _land_detected

◆ _landed_hysteresis

◆ _maybe_landed_hysteresis

◆ _parameter_update_sub

◆ _previous_armed_state

◆ _takeoff_time

◆ _total_flight_time

◆ _vehicle_acceleration

◆ _vehicle_acceleration_sub

◆ _vehicle_land_detected_pub

◆ _vehicle_local_position

◆ _vehicle_local_position_sub

◆ LAND_DETECTOR_UPDATE_INTERVAL