mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-02 10:23:25 +08:00
Andy Piper
c4f79e1014
Replaces Copter's built-in ground-effect detection with the AP_GroundEffect library and wires its AC_PosControl and per-cycle vehicle state. A stored GND_EFFECT_COMP=0 is migrated to GNDEFF_ALT=-1; the enabled default needs no migration. With the default GNDEFF_ALT of 0.5m touchdown_expected now also requires the vehicle to be near the ground (within 0.5m of the takeoff height, and within 20m horizontally of the launch point when no rangefinder is available), where the old code asserted it for any slow descent at any height. GNDEFF_ALT=0 restores the old behaviour.
40 lines
1.6 KiB
C++
40 lines
1.6 KiB
C++
#include "Copter.h"
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#if AP_GROUNDEFFECT_ENABLED
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void Copter::update_ground_effect_detector(void)
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{
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AP_GroundEffect &gndeff = g2.ground_effect;
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// throw mode never wants the takeoff expected EKF code
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gndeff.enable_takeoff_comp(flightmode->mode_number() != Mode::Number::THROW);
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gndeff.set_high_vibrations(vibration_check.high_vibes);
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// ALT_HOLD has manual attitude and no NE controller, so a near-level
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// attitude target stands in for "pilot is asking for slow horizontal"
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bool pilot_slow_horizontal = false;
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if (flightmode->mode_number() == Mode::Number::ALT_HOLD) {
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const Vector3f angle_target_rad = attitude_control->get_att_target_euler_rad();
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pilot_slow_horizontal = cosf(angle_target_rad.x) * cosf(angle_target_rad.y) > cosf(radians(7.5f));
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}
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gndeff.set_pilot_demanding_slow_horizontal(pilot_slow_horizontal);
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const bool throttle_up = flightmode->has_manual_throttle() && channel_throttle->get_control_in() > 0;
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gndeff.update(motors->armed(), ap.land_complete, throttle_up);
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}
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#endif // AP_GROUNDEFFECT_ENABLED
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// update ekf terrain height stable setting
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// when set to true, this allows the EKF to stabilize the normally barometer based altitude using a rangefinder
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// this is not related to terrain following
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void Copter::update_ekf_terrain_height_stable()
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{
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// set to false if no position estimate
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if (!position_ok() && !ekf_has_relative_position()) {
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ahrs.set_terrain_hgt_stable(false);
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return;
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}
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// consider terrain height stable if vehicle is taking off or landing
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ahrs.set_terrain_hgt_stable(flightmode->is_taking_off() || flightmode->is_landing());
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}
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