#include <MulticopterLandDetector.h>

Inheritance diagram for land_detector::MulticopterLandDetector:

Collaboration diagram for land_detector::MulticopterLandDetector:

Public Member Functions
	MulticopterLandDetector ()

	~MulticopterLandDetector () override=default

Public Member Functions inherited from land_detector::LandDetector
	LandDetector ()

virtual	~LandDetector ()

int	print_status () override

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

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

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

bool	_get_landed_state () override

bool	_get_ground_contact_state () override

bool	_get_maybe_landed_state () override

bool	_get_freefall_state () override

bool	_get_ground_effect_state () override

float	_get_max_altitude () override

Private Member Functions
float	_get_takeoff_throttle ()
	Get control mode dependent pilot throttle threshold with which we should quit landed state and take off. More...

bool	_has_low_thrust ()

bool	_has_minimal_thrust ()

bool	_has_altitude_lock ()

bool	_has_position_lock ()

bool	_is_climb_rate_enabled ()

	DEFINE_PARAMETERS_CUSTOM_PARENT (LandDetector,(ParamFloat< px4::params::LNDMC_ALT_MAX >) _param_lndmc_alt_max,(ParamFloat< px4::params::LNDMC_FFALL_THR >) _param_lndmc_ffall_thr,(ParamFloat< px4::params::LNDMC_FFALL_TTRI >) _param_lndmc_ffall_ttri,(ParamFloat< px4::params::LNDMC_LOW_T_THR >) _param_lndmc_low_t_thr,(ParamFloat< px4::params::LNDMC_ROT_MAX >) _param_lndmc_rot_max,(ParamFloat< px4::params::LNDMC_XY_VEL_MAX >) _param_lndmc_xy_vel_max,(ParamFloat< px4::params::LNDMC_Z_VEL_MAX >) _param_lndmc_z_vel_max)

Private Attributes
struct {
param_t minThrottle

param_t hoverThrottle

param_t minManThrottle

param_t landSpeed

}	_paramHandle
	Handles for interesting parameters. More...

struct {
float minThrottle

float hoverThrottle

float minManThrottle

float landSpeed

}	_params

uORB::Subscription	_actuator_controls_sub {ORB_ID(actuator_controls_0)}

uORB::Subscription	_battery_sub {ORB_ID(battery_status)}

uORB::Subscription	_vehicle_acceleration_sub {ORB_ID(vehicle_acceleration)}

uORB::Subscription	_vehicle_angular_velocity_sub {ORB_ID(vehicle_angular_velocity)}

uORB::Subscription	_vehicle_control_mode_sub {ORB_ID(vehicle_control_mode)}

uORB::Subscription	_vehicle_local_position_sub {ORB_ID(vehicle_local_position)}

uORB::Subscription	_vehicle_local_position_setpoint_sub {ORB_ID(vehicle_local_position_setpoint)}

actuator_controls_s	_actuator_controls {}

battery_status_s	_battery_status {}

vehicle_angular_velocity_s	_vehicle_angular_velocity {}

vehicle_control_mode_s	_vehicle_control_mode {}

vehicle_local_position_setpoint_s	_vehicle_local_position_setpoint {}

hrt_abstime	_min_trust_start {0}
	timestamp when minimum trust was applied first More...

hrt_abstime	_landed_time {0}

bool	_in_descend {false}
	vehicle is desending More...

bool	_horizontal_movement {false}
	vehicle is moving horizontally More...

Static Private Attributes
static constexpr hrt_abstime	LAND_DETECTOR_TRIGGER_TIME_US = 300_ms
	Time in us that landing conditions have to hold before triggering a land. More...

static constexpr hrt_abstime	MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms
	Time in us that almost landing conditions have to hold before triggering almost landed . More...

static constexpr hrt_abstime	GROUND_CONTACT_TRIGGER_TIME_US = 350_ms
	Time in us that ground contact condition have to hold before triggering contact ground. More...

static constexpr hrt_abstime	LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s
	Time interval in us in which wider acceptance thresholds are used after landed. More...

Additional Inherited Members
Static Public Member Functions inherited from land_detector::LandDetector
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 Attributes inherited from land_detector::LandDetector
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 inherited from land_detector::LandDetector
static constexpr uint32_t	LAND_DETECTOR_UPDATE_INTERVAL = 20_ms
	Run main land detector loop at this interval. More...

Detailed Description

Definition at line 59 of file MulticopterLandDetector.h.

Constructor & Destructor Documentation

◆ MulticopterLandDetector()

land_detector::MulticopterLandDetector::MulticopterLandDetector ( )

Definition at line 74 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_ground_contact_hysteresis, land_detector::LandDetector::_landed_hysteresis, land_detector::LandDetector::_maybe_landed_hysteresis, _paramHandle, GROUND_CONTACT_TRIGGER_TIME_US, LAND_DETECTOR_TRIGGER_TIME_US, MAYBE_LAND_DETECTOR_TRIGGER_TIME_US, param_find(), and systemlib::Hysteresis::set_hysteresis_time_from().

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◆ ~MulticopterLandDetector()

land_detector::MulticopterLandDetector::~MulticopterLandDetector ( )

overridedefault

Member Function Documentation

◆ _get_freefall_state()

bool land_detector::MulticopterLandDetector::_get_freefall_state ( )

overrideprotectedvirtual

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

Reimplemented from land_detector::LandDetector.

Definition at line 110 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_vehicle_acceleration, vehicle_acceleration_s::timestamp, and vehicle_acceleration_s::xyz.

◆ _get_ground_contact_state()

bool land_detector::MulticopterLandDetector::_get_ground_contact_state ( )

overrideprotectedvirtual

Returns: true if UAV is touching ground but not landed

Reimplemented from land_detector::LandDetector.

Definition at line 128 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_actuator_armed, _has_altitude_lock(), _has_low_thrust(), _has_position_lock(), _horizontal_movement, _in_descend, _is_climb_rate_enabled(), _landed_time, _params, land_detector::LandDetector::_vehicle_local_position, _vehicle_local_position_setpoint, actuator_armed_s::armed, f(), hrt_elapsed_time(), LAND_DETECTOR_LAND_PHASE_TIME_US, math::max(), vehicle_local_position_s::vx, vehicle_local_position_s::vy, vehicle_local_position_setpoint_s::vz, and vehicle_local_position_s::vz.

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◆ _get_ground_effect_state()

bool land_detector::MulticopterLandDetector::_get_ground_effect_state ( )

overrideprotectedvirtual

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

Reimplemented from land_detector::LandDetector.

Definition at line 311 of file MulticopterLandDetector.cpp.

References _horizontal_movement, and _in_descend.

◆ _get_landed_state()

bool land_detector::MulticopterLandDetector::_get_landed_state ( )

overrideprotectedvirtual

Returns: true if UAV is in a landed state.

Implements land_detector::LandDetector.

Reimplemented in land_detector::VtolLandDetector.

Definition at line 218 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_actuator_armed, _landed_time, land_detector::LandDetector::_maybe_landed_hysteresis, actuator_armed_s::armed, systemlib::Hysteresis::get_state(), and hrt_absolute_time().

Referenced by land_detector::VtolLandDetector::_get_landed_state().

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◆ _get_max_altitude()

float land_detector::MulticopterLandDetector::_get_max_altitude ( )

overrideprotectedvirtual

Returns: maximum altitude that can be reached

Reimplemented from land_detector::LandDetector.

Definition at line 242 of file MulticopterLandDetector.cpp.

References _battery_status, f(), and battery_status_s::warning.

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◆ _get_maybe_landed_state()

bool land_detector::MulticopterLandDetector::_get_maybe_landed_state ( )

overrideprotectedvirtual

Returns: true if UAV is in almost landed state

Reimplemented from land_detector::LandDetector.

Reimplemented in land_detector::VtolLandDetector.

Definition at line 172 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_actuator_armed, land_detector::LandDetector::_ground_contact_hysteresis, _has_altitude_lock(), _has_minimal_thrust(), _landed_time, _min_trust_start, _vehicle_angular_velocity, actuator_armed_s::armed, systemlib::Hysteresis::get_state(), hrt_absolute_time(), hrt_abstime, hrt_elapsed_time(), LAND_DETECTOR_LAND_PHASE_TIME_US, math::radians(), and vehicle_angular_velocity_s::xyz.

Referenced by land_detector::VtolLandDetector::_get_maybe_landed_state().

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◆ _get_takeoff_throttle()

float land_detector::MulticopterLandDetector::_get_takeoff_throttle ( )

private

Get control mode dependent pilot throttle threshold with which we should quit landed state and take off.

◆ _has_altitude_lock()

bool land_detector::MulticopterLandDetector::_has_altitude_lock ( )

private

Definition at line 266 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_vehicle_local_position, hrt_elapsed_time(), vehicle_local_position_s::timestamp, and vehicle_local_position_s::z_valid.

Referenced by _get_ground_contact_state(), _get_maybe_landed_state(), and _has_position_lock().

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◆ _has_low_thrust()

bool land_detector::MulticopterLandDetector::_has_low_thrust ( )

private

Definition at line 287 of file MulticopterLandDetector.cpp.

References _actuator_controls, _params, and actuator_controls_s::control.

Referenced by _get_ground_contact_state().

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◆ _has_minimal_thrust()

bool land_detector::MulticopterLandDetector::_has_minimal_thrust ( )

private

Definition at line 297 of file MulticopterLandDetector.cpp.

References _actuator_controls, _params, _vehicle_control_mode, actuator_controls_s::control, f(), and vehicle_control_mode_s::flag_control_climb_rate_enabled.

Referenced by _get_maybe_landed_state().

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◆ _has_position_lock()

bool land_detector::MulticopterLandDetector::_has_position_lock ( )

private

Definition at line 273 of file MulticopterLandDetector.cpp.

References _has_altitude_lock(), land_detector::LandDetector::_vehicle_local_position, and vehicle_local_position_s::xy_valid.

Referenced by _get_ground_contact_state().

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◆ _is_climb_rate_enabled()

bool land_detector::MulticopterLandDetector::_is_climb_rate_enabled ( )

private

Definition at line 278 of file MulticopterLandDetector.cpp.

References _vehicle_control_mode, _vehicle_local_position_setpoint, vehicle_control_mode_s::flag_control_climb_rate_enabled, hrt_elapsed_time(), vehicle_local_position_setpoint_s::timestamp, and vehicle_local_position_setpoint_s::vz.

Referenced by _get_ground_contact_state().

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◆ _update_params()

void land_detector::MulticopterLandDetector::_update_params ( )

overrideprotectedvirtual

Updates parameters.

Reimplemented from land_detector::LandDetector.

Definition at line 98 of file MulticopterLandDetector.cpp.

References land_detector::LandDetector::_freefall_hysteresis, _paramHandle, _params, land_detector::LandDetector::_update_params(), hrt_abstime, param_get(), and systemlib::Hysteresis::set_hysteresis_time_from().

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◆ _update_topics()

void land_detector::MulticopterLandDetector::_update_topics ( )

overrideprotectedvirtual

Updates subscribed uORB topics.

Reimplemented from land_detector::LandDetector.

Reimplemented in land_detector::VtolLandDetector.

Definition at line 87 of file MulticopterLandDetector.cpp.

References _actuator_controls, _actuator_controls_sub, _battery_status, _battery_sub, land_detector::LandDetector::_update_topics(), _vehicle_angular_velocity, _vehicle_angular_velocity_sub, _vehicle_control_mode, _vehicle_control_mode_sub, _vehicle_local_position_setpoint, _vehicle_local_position_setpoint_sub, and uORB::Subscription::update().

Referenced by land_detector::VtolLandDetector::_update_topics().

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◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

land_detector::MulticopterLandDetector::DEFINE_PARAMETERS_CUSTOM_PARENT	(	LandDetector	,
		(ParamFloat< px4::params::LNDMC_ALT_MAX >)	_param_lndmc_alt_max,
		(ParamFloat< px4::params::LNDMC_FFALL_THR >)	_param_lndmc_ffall_thr,
		(ParamFloat< px4::params::LNDMC_FFALL_TTRI >)	_param_lndmc_ffall_ttri,
		(ParamFloat< px4::params::LNDMC_LOW_T_THR >)	_param_lndmc_low_t_thr,
		(ParamFloat< px4::params::LNDMC_ROT_MAX >)	_param_lndmc_rot_max,
		(ParamFloat< px4::params::LNDMC_XY_VEL_MAX >)	_param_lndmc_xy_vel_max,
		(ParamFloat< px4::params::LNDMC_Z_VEL_MAX >)	_param_lndmc_z_vel_max
	)

private

Member Data Documentation

◆ _actuator_controls

actuator_controls_s land_detector::MulticopterLandDetector::_actuator_controls {}

private

Definition at line 122 of file MulticopterLandDetector.h.

Referenced by _has_low_thrust(), _has_minimal_thrust(), and _update_topics().

◆ _actuator_controls_sub

uORB::Subscription land_detector::MulticopterLandDetector::_actuator_controls_sub {ORB_ID(actuator_controls_0)}

private

Definition at line 114 of file MulticopterLandDetector.h.

Referenced by _update_topics().

◆ _battery_status

battery_status_s land_detector::MulticopterLandDetector::_battery_status {}

private

Definition at line 123 of file MulticopterLandDetector.h.

Referenced by _get_max_altitude(), and _update_topics().

◆ _battery_sub

uORB::Subscription land_detector::MulticopterLandDetector::_battery_sub {ORB_ID(battery_status)}

private

Definition at line 115 of file MulticopterLandDetector.h.

Referenced by _update_topics().

◆ _horizontal_movement

bool land_detector::MulticopterLandDetector::_horizontal_movement {false}

private

vehicle is moving horizontally

Definition at line 132 of file MulticopterLandDetector.h.

Referenced by _get_ground_contact_state(), and _get_ground_effect_state().

◆ _in_descend

bool land_detector::MulticopterLandDetector::_in_descend {false}

private

vehicle is desending

Definition at line 131 of file MulticopterLandDetector.h.

Referenced by _get_ground_contact_state(), and _get_ground_effect_state().

◆ _landed_time

hrt_abstime land_detector::MulticopterLandDetector::_landed_time {0}

private

Definition at line 129 of file MulticopterLandDetector.h.

Referenced by _get_ground_contact_state(), _get_landed_state(), and _get_maybe_landed_state().

◆ _min_trust_start

hrt_abstime land_detector::MulticopterLandDetector::_min_trust_start {0}

private

timestamp when minimum trust was applied first

Definition at line 128 of file MulticopterLandDetector.h.

Referenced by _get_maybe_landed_state().

◆ _paramHandle

struct { ... } land_detector::MulticopterLandDetector::_paramHandle

Handles for interesting parameters.

Referenced by _update_params(), and MulticopterLandDetector().

◆ _params

struct { ... } land_detector::MulticopterLandDetector::_params

Referenced by _get_ground_contact_state(), _has_low_thrust(), _has_minimal_thrust(), and _update_params().

◆ _vehicle_acceleration_sub

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

private

Definition at line 116 of file MulticopterLandDetector.h.

◆ _vehicle_angular_velocity

vehicle_angular_velocity_s land_detector::MulticopterLandDetector::_vehicle_angular_velocity {}

private

Definition at line 124 of file MulticopterLandDetector.h.

Referenced by _get_maybe_landed_state(), and _update_topics().

◆ _vehicle_angular_velocity_sub

uORB::Subscription land_detector::MulticopterLandDetector::_vehicle_angular_velocity_sub {ORB_ID(vehicle_angular_velocity)}

private

Definition at line 117 of file MulticopterLandDetector.h.

Referenced by _update_topics().

◆ _vehicle_control_mode

vehicle_control_mode_s land_detector::MulticopterLandDetector::_vehicle_control_mode {}

private

Definition at line 125 of file MulticopterLandDetector.h.

Referenced by _has_minimal_thrust(), _is_climb_rate_enabled(), and _update_topics().

◆ _vehicle_control_mode_sub

uORB::Subscription land_detector::MulticopterLandDetector::_vehicle_control_mode_sub {ORB_ID(vehicle_control_mode)}

private

Definition at line 118 of file MulticopterLandDetector.h.

Referenced by _update_topics().

◆ _vehicle_local_position_setpoint

vehicle_local_position_setpoint_s land_detector::MulticopterLandDetector::_vehicle_local_position_setpoint {}

private

Definition at line 126 of file MulticopterLandDetector.h.

Referenced by _get_ground_contact_state(), _is_climb_rate_enabled(), and _update_topics().

◆ _vehicle_local_position_setpoint_sub

uORB::Subscription land_detector::MulticopterLandDetector::_vehicle_local_position_setpoint_sub {ORB_ID(vehicle_local_position_setpoint)}

private

Definition at line 120 of file MulticopterLandDetector.h.

Referenced by _update_topics().

◆ _vehicle_local_position_sub

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

private

Definition at line 119 of file MulticopterLandDetector.h.

◆ GROUND_CONTACT_TRIGGER_TIME_US

constexpr hrt_abstime land_detector::MulticopterLandDetector::GROUND_CONTACT_TRIGGER_TIME_US = 350_ms

staticprivate

Time in us that ground contact condition have to hold before triggering contact ground.

Definition at line 94 of file MulticopterLandDetector.h.

Referenced by MulticopterLandDetector().

◆ hoverThrottle [1/2]

param_t land_detector::MulticopterLandDetector::hoverThrottle

Definition at line 102 of file MulticopterLandDetector.h.

◆ hoverThrottle [2/2]

float land_detector::MulticopterLandDetector::hoverThrottle

Definition at line 109 of file MulticopterLandDetector.h.

◆ LAND_DETECTOR_LAND_PHASE_TIME_US

constexpr hrt_abstime land_detector::MulticopterLandDetector::LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s

staticprivate

Time interval in us in which wider acceptance thresholds are used after landed.

Definition at line 97 of file MulticopterLandDetector.h.

Referenced by _get_ground_contact_state(), and _get_maybe_landed_state().

◆ LAND_DETECTOR_TRIGGER_TIME_US

constexpr hrt_abstime land_detector::MulticopterLandDetector::LAND_DETECTOR_TRIGGER_TIME_US = 300_ms

staticprivate

Time in us that landing conditions have to hold before triggering a land.

Definition at line 88 of file MulticopterLandDetector.h.

Referenced by MulticopterLandDetector().

◆ landSpeed [1/2]

param_t land_detector::MulticopterLandDetector::landSpeed

Definition at line 104 of file MulticopterLandDetector.h.

◆ landSpeed [2/2]

float land_detector::MulticopterLandDetector::landSpeed

Definition at line 111 of file MulticopterLandDetector.h.

◆ MAYBE_LAND_DETECTOR_TRIGGER_TIME_US

constexpr hrt_abstime land_detector::MulticopterLandDetector::MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms

staticprivate

Time in us that almost landing conditions have to hold before triggering almost landed .

Definition at line 91 of file MulticopterLandDetector.h.

Referenced by MulticopterLandDetector().

◆ minManThrottle [1/2]

param_t land_detector::MulticopterLandDetector::minManThrottle

Definition at line 103 of file MulticopterLandDetector.h.

◆ minManThrottle [2/2]

float land_detector::MulticopterLandDetector::minManThrottle

Definition at line 110 of file MulticopterLandDetector.h.

◆ minThrottle [1/2]

param_t land_detector::MulticopterLandDetector::minThrottle

Definition at line 101 of file MulticopterLandDetector.h.

◆ minThrottle [2/2]

float land_detector::MulticopterLandDetector::minThrottle

Definition at line 108 of file MulticopterLandDetector.h.

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

src/modules/land_detector/MulticopterLandDetector.h
src/modules/land_detector/MulticopterLandDetector.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MulticopterLandDetector()

◆ ~MulticopterLandDetector()

Member Function Documentation

◆ _get_freefall_state()

◆ _get_ground_contact_state()

◆ _get_ground_effect_state()

◆ _get_landed_state()

◆ _get_max_altitude()

◆ _get_maybe_landed_state()

◆ _get_takeoff_throttle()

◆ _has_altitude_lock()

◆ _has_low_thrust()

◆ _has_minimal_thrust()

◆ _has_position_lock()

◆ _is_climb_rate_enabled()

◆ _update_params()

◆ _update_topics()

◆ DEFINE_PARAMETERS_CUSTOM_PARENT()

Member Data Documentation

◆ _actuator_controls

◆ _actuator_controls_sub

◆ _battery_status

◆ _battery_sub

◆ _horizontal_movement

◆ _in_descend

◆ _landed_time

◆ _min_trust_start

◆ _paramHandle

◆ _params

◆ _vehicle_acceleration_sub

◆ _vehicle_angular_velocity

◆ _vehicle_angular_velocity_sub

◆ _vehicle_control_mode

◆ _vehicle_control_mode_sub

◆ _vehicle_local_position_setpoint

◆ _vehicle_local_position_setpoint_sub

◆ _vehicle_local_position_sub

◆ GROUND_CONTACT_TRIGGER_TIME_US

◆ hoverThrottle [1/2]

◆ hoverThrottle [2/2]

◆ LAND_DETECTOR_LAND_PHASE_TIME_US

◆ LAND_DETECTOR_TRIGGER_TIME_US

◆ landSpeed [1/2]

◆ landSpeed [2/2]

◆ MAYBE_LAND_DETECTOR_TRIGGER_TIME_US

◆ minManThrottle [1/2]

◆ minManThrottle [2/2]

◆ minThrottle [1/2]

◆ minThrottle [2/2]