Mirrors_Framework/PX4-Autopilot
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replace camel case by snake case.

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Co-Authored-By: EliaTarasov <elias.tarasov@gmail.com>
This commit is contained in:
Matthias Grob
2019-03-08 18:12:58 +03:00
committed by Roman Bapst
parent 84d9820baa
commit aa36fa2dfd
3 changed files with 22 additions and 20 deletions
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src/modules/ekf2/ekf2_main.cpp
+16 -14
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@@ -252,17 +252,17 @@ private:
uint64_t _gps_alttitude_ellipsoid_previous_timestamp[GPS_MAX_RECEIVERS] {}; ///< storage for previous timestamp to compute dt uint64_t _gps_alttitude_ellipsoid_previous_timestamp[GPS_MAX_RECEIVERS] {}; ///< storage for previous timestamp to compute dt
float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84 float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84
int _airdata_sub{-1}; int _airdata_sub{ -1};
int _airspeed_sub{-1}; int _airspeed_sub{ -1};
int _ev_odom_sub{-1}; int _ev_odom_sub{ -1};
int _landing_target_pose_sub{-1}; int _landing_target_pose_sub{ -1};
int _magnetometer_sub{-1}; int _magnetometer_sub{ -1};
int _optical_flow_sub{-1}; int _optical_flow_sub{ -1};
int _params_sub{-1}; int _params_sub{ -1};
int _sensor_selection_sub{-1}; int _sensor_selection_sub{ -1};
int _sensors_sub{-1}; int _sensors_sub{ -1};
int _status_sub{-1}; int _status_sub{ -1};
int _vehicle_land_detected_sub{-1}; int _vehicle_land_detected_sub{ -1};
// because we can have several distance sensor instances with different orientations // because we can have several distance sensor instances with different orientations
int _range_finder_subs[ORB_MULTI_MAX_INSTANCES] {}; int _range_finder_subs[ORB_MULTI_MAX_INSTANCES] {};
@@ -270,7 +270,7 @@ private:
// because we can have multiple GPS instances // because we can have multiple GPS instances
int _gps_subs[GPS_MAX_RECEIVERS] {}; int _gps_subs[GPS_MAX_RECEIVERS] {};
int _gps_orb_instance{-1}; int _gps_orb_instance{ -1};
orb_advert_t _att_pub{nullptr}; orb_advert_t _att_pub{nullptr};
orb_advert_t _wind_pub{nullptr}; orb_advert_t _wind_pub{nullptr};
@@ -1253,10 +1253,12 @@ void Ekf2::run()
if (vehicle_land_detected_updated) { if (vehicle_land_detected_updated) {
if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) { if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
_ekf.set_in_air_status(!vehicle_land_detected.landed); _ekf.set_in_air_status(!vehicle_land_detected.landed);
if(_gnd_effect_deadzone.get() > 0.0f)
if (_gnd_effect_deadzone.get() > 0.0f) {
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect); _ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
} }
} }
}
// use the landing target pose estimate as another source of velocity data // use the landing target pose estimate as another source of velocity data
bool landing_target_pose_updated = false; bool landing_target_pose_updated = false;
@@ -1269,7 +1271,7 @@ void Ekf2::run()
// we can only use the landing target if it has a fixed position and a valid velocity estimate // we can only use the landing target if it has a fixed position and a valid velocity estimate
if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) { if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) {
// velocity of vehicle relative to target has opposite sign to target relative to vehicle // velocity of vehicle relative to target has opposite sign to target relative to vehicle
float velocity[2] = {-landing_target_pose.vx_rel, -landing_target_pose.vy_rel}; float velocity[2] = { -landing_target_pose.vx_rel, -landing_target_pose.vy_rel};
float variance[2] = {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel}; float variance[2] = {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel};
_ekf.setAuxVelData(landing_target_pose.timestamp, velocity, variance); _ekf.setAuxVelData(landing_target_pose.timestamp, velocity, variance);
} }
src/modules/land_detector/MulticopterLandDetector.cpp
+3 -3
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@@ -179,7 +179,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
} }
// Check if we are moving horizontally. // Check if we are moving horizontally.
_horizontalMovement = sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx _horizontal_movement = sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx
+ _vehicleLocalPosition.vy * _vehicleLocalPosition.vy) > _params.maxVelocity; + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy) > _params.maxVelocity;
// if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present, // if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present,
@@ -189,7 +189,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
bool hit_ground = _in_descend && !verticalMovement; bool hit_ground = _in_descend && !verticalMovement;
// TODO: we need an accelerometer based check for vertical movement for flying without GPS // TODO: we need an accelerometer based check for vertical movement for flying without GPS
if ((_has_low_thrust() || hit_ground) && (!_horizontalMovement || !_has_position_lock()) if ((_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock())
&& (!verticalMovement || !_has_altitude_lock())) { && (!verticalMovement || !_has_altitude_lock())) {
return true; return true;
} }
@@ -336,7 +336,7 @@ bool MulticopterLandDetector::_has_minimal_thrust()
bool MulticopterLandDetector::_get_ground_effect_state() bool MulticopterLandDetector::_get_ground_effect_state()
{ {
if (_in_descend && !_horizontalMovement) { if (_in_descend && !_horizontal_movement) {
return true; return true;
} else { } else {
src/modules/land_detector/MulticopterLandDetector.h
+1 -1
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@@ -142,7 +142,7 @@ private:
hrt_abstime _landed_time{0}; hrt_abstime _landed_time{0};
bool _in_descend{false}; ///< vehicle is desending bool _in_descend{false}; ///< vehicle is desending
bool _horizontalMovement{false}; ///< vehicle is moving horizontally bool _horizontal_movement{false}; ///< vehicle is moving horizontally
/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */ /* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
float _get_takeoff_throttle(); float _get_takeoff_throttle();