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86 lines
2.8 KiB
86 lines
2.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Mission/AP_Mission.h> |
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#include <AP_Common/AP_Common.h> |
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#include <AP_SpdHgtControl/AP_SpdHgtControl.h> |
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#include <AP_Vehicle/AP_Vehicle.h> |
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/// @class AP_Landing |
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/// @brief Class managing ArduPlane landing methods |
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class AP_Landing |
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{ |
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public: |
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// constructor |
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AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, const AP_Vehicle::FixedWing &_aparm) : |
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mission(_mission), |
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ahrs(_ahrs), |
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SpdHgt_Controller(_SpdHgt_Controller), |
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aparm(_aparm) { |
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AP_Param::setup_object_defaults(this, var_info); |
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} |
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bool restart_landing_sequence(); |
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bool jump_to_landing_sequence(void); |
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Location setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc); |
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void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state); |
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static const struct AP_Param::GroupInfo var_info[]; |
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// Flag to indicate if we have landed. |
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// Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown |
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bool complete; |
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// Flag to indicate if we have triggered pre-flare. This occurs when we have reached LAND_PF_ALT |
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bool pre_flare; |
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// are we in auto and flight mode is approach || pre-flare || final (flare) |
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bool in_progress; |
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// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - aparm.land_flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc) |
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float slope; |
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// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope |
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float initial_slope; |
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// landing altitude offset (meters) |
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float alt_offset; |
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// once landed, post some landing statistics to the GCS |
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bool post_stats; |
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// have we checked for an auto-land? |
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bool checked_for_autoland; |
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// denotes if a go-around has been commanded for landing |
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bool commanded_go_around; |
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private: |
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bool has_aborted_due_to_slope_recalc; |
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AP_Mission &mission; |
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AP_AHRS &ahrs; |
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AP_SpdHgtControl *SpdHgt_Controller; |
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const AP_Vehicle::FixedWing &aparm; |
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};
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