Ground detection module. More...

#include "ground_detect.h"
#include "filters/median_filter.h"
#include "firmwares/rotorcraft/autopilot_firmware.h"
#include "modules/core/abi.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"
#include "modules/datalink/telemetry.h"

Include dependency graph for ground_detect.c:

Go to the source code of this file.

Data Structures
struct	force_sensor_data_t

Functions
static void	send_ground_detect (struct transport_tx trans, struct link_device dev)

void	ground_detect_init ()

bool	ground_detect (void)

void	ground_detect_periodic ()

void	ground_detect_filter_accel (void)
	Filter the vertical acceleration with a low cutoff frequency.

bool	ground_detect_reverse_thrust (void)

void	ground_detect_stop_reverse_thrust (void)

void	ground_detect_start_reverse_thrust (void)

void	ground_detect_set_offset_sensors (bool set_offset)

Detailed Description

Ground detection module.

Definition in file ground_detect.c.

Data Structure Documentation

◆ force_sensor_data_t

struct force_sensor_data_t

Definition at line 127 of file ground_detect.c.

Data Fields
uint8_t	count
int32_t	offsets[FORCE_SENSOR_MAX_NB]
int32_t	values_filt[FORCE_SENSOR_MAX_NB]

Macro Definition Documentation

◆ FORCE_SENSOR_MAX_NB

#define FORCE_SENSOR_MAX_NB 16

Definition at line 67 of file ground_detect.c.

◆ GROUND_DETECT_COUNTER_TRIGGER

#define GROUND_DETECT_COUNTER_TRIGGER 5

Definition at line 107 of file ground_detect.c.

◆ GROUND_DETECT_FILT_FREQ

#define GROUND_DETECT_FILT_FREQ 5.0

Definition at line 112 of file ground_detect.c.

◆ GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE

#define GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE 3

Definition at line 63 of file ground_detect.c.

◆ GROUND_DETECT_FORCE_SENSOR_THRESHOLD

#define GROUND_DETECT_FORCE_SENSOR_THRESHOLD 100000

Definition at line 59 of file ground_detect.c.

◆ GROUND_DETECT_NUM_TRIGGERS

#define GROUND_DETECT_NUM_TRIGGERS 3

Definition at line 38 of file ground_detect.c.

◆ GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED

#define GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED false

Definition at line 78 of file ground_detect.c.

◆ GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD

#define GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD -5.0

Definition at line 92 of file ground_detect.c.

◆ GROUND_DETECT_USE_FORCE_SENSOR

#define GROUND_DETECT_USE_FORCE_SENSOR 0

Definition at line 55 of file ground_detect.c.

◆ GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD

#define GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD -3.0

Definition at line 102 of file ground_detect.c.

◆ GROUND_DETECT_VERTICAL_SPEED_THRESHOLD

#define GROUND_DETECT_VERTICAL_SPEED_THRESHOLD 0.1

Definition at line 97 of file ground_detect.c.

Function Documentation

◆ ground_detect()

bool ground_detect ( void )

Definition at line 230 of file ground_detect.c.

References ground_detected.

◆ ground_detect_filter_accel()

void ground_detect_filter_accel ( void )

Filter the vertical acceleration with a low cutoff frequency.

Definition at line 313 of file ground_detect.c.

References ground_detect_values_t::accel_down_filt, ground_detect_values, stateGetAccelNed_f(), update_butterworth_2_low_pass(), and NedCoor_f::z.

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◆ ground_detect_init()

void ground_detect_init ( void )

◆ ground_detect_periodic()

void ground_detect_periodic ( void )

◆ ground_detect_reverse_thrust()

bool ground_detect_reverse_thrust ( void )

Definition at line 319 of file ground_detect.c.

References GROUND_DETECT_REVERSE_THRUST_ON_GROUND_DETECTED, and reverse_thrust.

◆ ground_detect_set_offset_sensors()

void ground_detect_set_offset_sensors ( bool set_offset )

Definition at line 339 of file ground_detect.c.

References foo.

◆ ground_detect_start_reverse_thrust()

void ground_detect_start_reverse_thrust ( void )

Definition at line 334 of file ground_detect.c.

References reverse_thrust.

◆ ground_detect_stop_reverse_thrust()

void ground_detect_stop_reverse_thrust ( void )

Definition at line 329 of file ground_detect.c.

References reverse_thrust.

◆ send_ground_detect()

static void send_ground_detect	(	struct transport_tx *	trans,
		struct link_device *	dev
	)

static

Definition at line 182 of file ground_detect.c.

References ground_detect_values_t::accel_down_filt, ground_detect_values_t::agl_dist_value_filtered, force_sensor_data_t::count, dev, foo, force_sensor, ground_detect_status, ground_detect_values, ground_detected, SecondOrderLowPass::o, ground_detect_values_t::spec_thrust_down, ground_detect_values_t::speed_down, ground_detect_bitmask_t::value, and force_sensor_data_t::values_filt.

Referenced by ground_detect_init().

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Variable Documentation

◆ counter

int32_t counter = 0

Definition at line 117 of file ground_detect.c.

Referenced by ground_detect_periodic().

◆ disarm_on_not_in_flight

bool disarm_on_not_in_flight = false

Definition at line 115 of file ground_detect.c.

Referenced by ground_detect_periodic().

◆ force_sensor

struct force_sensor_data_t force_sensor = {0}

static

Definition at line 133 of file ground_detect.c.

Referenced by ground_detect_init(), and send_ground_detect().

◆ force_sensor_ground_threshold

float force_sensor_ground_threshold = GROUND_DETECT_FORCE_SENSOR_THRESHOLD

Definition at line 125 of file ground_detect.c.

◆ ground_detect_status

union ground_detect_bitmask_t ground_detect_status

Definition at line 122 of file ground_detect.c.

Referenced by ground_detect_init(), ground_detect_periodic(), and send_ground_detect().

◆ ground_detect_values

struct ground_detect_values_t ground_detect_values

Definition at line 123 of file ground_detect.c.

Referenced by ground_detect_filter_accel(), ground_detect_init(), ground_detect_periodic(), and send_ground_detect().

◆ ground_detected

bool ground_detected = false

Definition at line 118 of file ground_detect.c.

Referenced by ground_detect(), ground_detect_periodic(), and send_ground_detect().

◆ reverse_th_level

uint16_t reverse_th_level = 0

Definition at line 88 of file ground_detect.c.

◆ reverse_thrust

bool reverse_thrust = false

Definition at line 120 of file ground_detect.c.

Referenced by ground_detect_reverse_thrust(), ground_detect_start_reverse_thrust(), and ground_detect_stop_reverse_thrust().

Data Structures

Macros

Functions

Variables