ground_detect.h File Reference

#include "std.h"
#include "filters/low_pass_filter.h"

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Data Structures
union	ground_detect_bitmask_t
struct	ground_detect_values_t
struct	ground_detect_bitmask_t.__unnamed304__

Functions
void	ground_detect_init (void)
void	ground_detect_periodic (void)
bool	ground_detect (void)
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)

Variables
bool	disarm_on_not_in_flight
float	force_sensor_ground_threshold
uint16_t	reverse_th_level

Detailed Description

Author

Dennis van Wijngaarden D.C.v.nosp@m.anWi.nosp@m.jngaa.nosp@m.rden.nosp@m.@tude.nosp@m.lft..nosp@m.nl Ground detection module

Definition in file ground_detect.h.

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Data Structure Documentation

ground_detect_bitmask_t

union ground_detect_bitmask_t

Definition at line 32 of file ground_detect.h.

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Data Fields
struct ground_detect_bitmask_t.__unnamed304__	__unnamed__
uint16_t	value

ground_detect_values_t

struct ground_detect_values_t

Definition at line 43 of file ground_detect.h.

Collaboration diagram for ground_detect_values_t:

Data Fields
Butterworth2LowPass	accel_down_filt
float	agl_dist_value_filtered
float	spec_thrust_down
float	speed_down

ground_detect_bitmask_t.__unnamed304__

struct ground_detect_bitmask_t.__unnamed304__

Definition at line 34 of file ground_detect.h.

Data Fields
bool	accel_filt_trigger: 1
bool	agl_trigger: 1
bool	force_sensor_trigger: 1
bool	spec_thrust_trigger: 1
bool	vspeed_trigger: 1

Function Documentation

ground_detect()

bool ground_detect ( void  )

extern

Definition at line 230 of file ground_detect.c.

References ground_detected.

ground_detect_filter_accel()

void ground_detect_filter_accel ( void  )

extern

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  )

extern

Definition at line 199 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, DefaultPeriodic, foo, force_sensor, FORCE_SENSOR_MAX_NB, GROUND_DETECT_FILT_FREQ, GROUND_DETECT_FORCE_SENSOR_MEDIAN_FILT_SIZE, ground_detect_status, ground_detect_values, init_butterworth_2_low_pass(), init_median_filter_i(), force_sensor_data_t::offsets, register_periodic_telemetry(), send_ground_detect(), 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.

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ground_detect_periodic()

void ground_detect_periodic ( void  )

extern

Definition at line 241 of file ground_detect.c.

References ground_detect_values_t::accel_down_filt, act_is_servo, actuator_state_filt_vect, agl_dist_valid, ground_detect_values_t::agl_dist_value_filtered, agl_dist_value_filtered, autopilot_set_motors_on(), counter, disarm_on_not_in_flight, foo, g1g2, GROUND_DETECT_COUNTER_TRIGGER, GROUND_DETECT_NUM_TRIGGERS, GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD, ground_detect_status, ground_detect_values, GROUND_DETECT_VERTICAL_ACCEL_THRESHOLD, GROUND_DETECT_VERTICAL_SPEED_THRESHOLD, ground_detected, SecondOrderLowPass::o, ground_detect_values_t::spec_thrust_down, ground_detect_values_t::speed_down, stateGetNedToBodyRMat_f(), stateGetSpeedNed_f(), ground_detect_bitmask_t::value, and NedCoor_f::z.

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ground_detect_reverse_thrust()

bool ground_detect_reverse_thrust ( void  )

extern

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 )

extern

Definition at line 339 of file ground_detect.c.

References foo.

ground_detect_start_reverse_thrust()

void ground_detect_start_reverse_thrust ( void  )

extern

Definition at line 334 of file ground_detect.c.

References reverse_thrust.

ground_detect_stop_reverse_thrust()

void ground_detect_stop_reverse_thrust ( void  )

extern

Definition at line 329 of file ground_detect.c.

References reverse_thrust.

Variable Documentation

disarm_on_not_in_flight

bool disarm_on_not_in_flight

extern

Definition at line 115 of file ground_detect.c.

Referenced by ground_detect_periodic().

force_sensor_ground_threshold

float force_sensor_ground_threshold

extern

Definition at line 125 of file ground_detect.c.

reverse_th_level

uint16_t reverse_th_level

extern

Definition at line 88 of file ground_detect.c.