ground_detect.c File Reference

Ground detection module. More...

#include "ground_detect.h"
#include "filters/low_pass_filter.h"
#include "firmwares/rotorcraft/autopilot_firmware.h"
#include "state.h"
#include "pprzlink/messages.h"
#include "modules/datalink/downlink.h"

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Macros
#define	GROUND_DETECT_COUNTER_TRIGGER   5
#define	GROUND_DETECT_FILT_FREQ   5.0
#define	DEBUG_GROUND_DETECT   TRUE

Functions
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. More...

Variables
Butterworth2LowPass	accel_filter
bool	disarm_on_not_in_flight = false
int32_t	counter = 0
bool	ground_detected = false

Detailed Description

Ground detection module.

Definition in file ground_detect.c.

Macro Definition Documentation

DEBUG_GROUND_DETECT

#define DEBUG_GROUND_DETECT   TRUE

Definition at line 58 of file ground_detect.c.

GROUND_DETECT_COUNTER_TRIGGER

#define GROUND_DETECT_COUNTER_TRIGGER   5

Definition at line 46 of file ground_detect.c.

GROUND_DETECT_FILT_FREQ

#define GROUND_DETECT_FILT_FREQ   5.0

Definition at line 49 of file ground_detect.c.

Function Documentation

ground_detect()

bool ground_detect

(

void

)

Definition at line 67 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 150 of file ground_detect.c.

References accel_filter, stateGetAccelNed_f(), update_butterworth_2_low_pass(), and NedCoor_f::z.

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ground_detect_init()

void ground_detect_init

(

void

)

Definition at line 60 of file ground_detect.c.

References accel_filter, GROUND_DETECT_FILT_FREQ, and init_butterworth_2_low_pass().

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ground_detect_periodic()

void ground_detect_periodic

(

void

)

Definition at line 78 of file ground_detect.c.

References accel_filter, act_is_servo, actuator_state_filt_vect, agl_dist_valid, agl_dist_value_filtered, autopilot_set_motors_on(), counter, DefaultChannel, DefaultDevice, disarm_on_not_in_flight, g1g2, GROUND_DETECT_COUNTER_TRIGGER, ground_detected, FloatRMat::m, SecondOrderLowPass::o, stateGetAccelNed_f(), stateGetNedToBodyRMat_f(), stateGetSpeedNed_f(), and NedCoor_f::z.

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Variable Documentation

accel_filter

Butterworth2LowPass accel_filter

Definition at line 51 of file ground_detect.c.

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

counter

int32_t counter = 0

Definition at line 55 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 53 of file ground_detect.c.

Referenced by ground_detect_periodic().

ground_detected

bool ground_detected = false

Definition at line 56 of file ground_detect.c.

Referenced by ground_detect(), and ground_detect_periodic().