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Update ground detect (#3365)
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@dewagter
dewagter authored Oct 1, 2024
1 parent 02d93d9 commit 5a45a61
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Showing 17 changed files with 219 additions and 170 deletions.
5 changes: 3 additions & 2 deletions conf/airframes/tudelft/rotwing5.xml
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Expand Up @@ -141,7 +141,8 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="rotwing_automation"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks">
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
Expand Down Expand Up @@ -323,7 +324,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<!-- <define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/> -->
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing6.xml
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Expand Up @@ -134,7 +134,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks">
<define name="SDLOG_PREFLIGHT_ERROR" value="TRUE"/>
Expand Down Expand Up @@ -315,7 +315,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<!-- <define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/> -->
<define name="AGL_DIST_FILTER" value="0.07"/>
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6 changes: 3 additions & 3 deletions conf/airframes/tudelft/rotwing_v3b.xml
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Expand Up @@ -135,7 +135,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
Expand Down Expand Up @@ -451,7 +451,7 @@
<define name="NAV_DESCEND_VSPEED" value="-1.0"/>
<define name="NAV_CARROT_DIST" value="200"/>
<!-- prevent in-flight in start engine block-->
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="AUTOPILOT_IN_FLIGHT_MIN_THRUST" value="4000"/>
<define name="ARRIVED_AT_WAYPOINT" value="50.0"/>
<define name="NO_GPS_LOST_WITH_DATALINK_TIME" value="20"/>
<define name="NO_GPS_LOST_WITH_RC_VALID" value="TRUE"/>
Expand All @@ -464,7 +464,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.18"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3c_oneloop.xml
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Expand Up @@ -135,7 +135,7 @@
<define name="WLS_N_V_MAX" value = "6"/>
</module>

<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state_V2"/>
<module name="agl_dist"/>
<module name="rotwing_automation">
Expand Down Expand Up @@ -251,7 +251,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3c_oneloop_optitrack.xml
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Expand Up @@ -136,7 +136,7 @@
<define name="WLS_N_V_MAX" value = "6"/>
</module>

<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state_V2"/>
<module name="agl_dist"/>
<module name="rotwing_automation">
Expand Down Expand Up @@ -253,7 +253,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3c_oneloop_optitrack_ext_pose.xml
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Expand Up @@ -128,7 +128,7 @@
<define name="WLS_N_V_MAX" value = "6"/>
</module>

<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state_V2"/>
<module name="agl_dist"/>
<module name="rotwing_automation">
Expand Down Expand Up @@ -244,7 +244,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3c_oneloop_simulation.xml
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Expand Up @@ -96,7 +96,7 @@
<define name="WLS_N_V_MAX" value = "6"/>
</module>

<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state_V2">
<define name = "USE_ROTMECH_VIRTUAL" value = "TRUE"/>
<define name = "ROTMECH_DYN" value = "3.0"/>
Expand Down Expand Up @@ -213,7 +213,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="FALSE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.20"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3d.xml
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Expand Up @@ -122,7 +122,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
Expand Down Expand Up @@ -456,7 +456,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.18"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3e.xml
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Expand Up @@ -122,7 +122,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
Expand Down Expand Up @@ -456,7 +456,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.18"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3f.xml
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Expand Up @@ -122,7 +122,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
Expand Down Expand Up @@ -456,7 +456,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.18"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3g.xml
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Expand Up @@ -127,7 +127,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
Expand Down Expand Up @@ -460,7 +460,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.18"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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4 changes: 2 additions & 2 deletions conf/airframes/tudelft/rotwing_v3h.xml
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Expand Up @@ -127,7 +127,7 @@
<!-- Other -->
<module name="sys_id_doublet"/>
<module name="sys_id_auto_doublets"/>
<module name="ground_detect_sensor"/>
<module name="ground_detect"/>
<module name="rotwing_state"/>
<module name="preflight_checks"/>
<module name="pfc_actuators"/>
Expand Down Expand Up @@ -460,7 +460,7 @@
<define name="THRESHOLD_GROUND_DETECT" value="40"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="TRUE"/>
<define name="USE_GROUND_DETECT_AGL_DIST" value="TRUE"/>
<define name="GROUND_DETECT_SENSOR_AGL_MIN_VALUE" value="0.24"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.24"/>
<define name="AGL_DIST_MIN_DISTANCE_CHECK" value="0.18"/>
<define name="AGL_DIST_MAX_DISTANCE_CHECK" value="0.25"/>
<define name="AGL_DIST_FILTER" value="0.07"/>
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31 changes: 31 additions & 0 deletions conf/modules/ground_detect.xml
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@@ -0,0 +1,31 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="ground_detect" dir="nav">
<doc>
<description>Ground detection module to detect ground</description>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="1" description="Use INDI thrust less than 50 percent as detection"/>
<define name="GROUND_DETECT_SPECIFIC_THRUST_THRESHOLD" value="-5.0" description="[m/s2] positive down"/>

<define name="USE_GROUND_DETECT_AGL_DIST" value="0" description="Use agl_dist_filtered"/>
<define name="GROUND_DETECT_AGL_MIN_VALUE" value="0.1" description="AGL value low enough to be used as ground detection [m]"/>

<define name="GROUND_DETECT_COUNTER_TRIGGER" value="10" description="Number of times a trigger must be valid to accept ground detection."/>
</doc>
<header>
<file name="ground_detect.h"/>
</header>
<init fun="ground_detect_init()"/>
<periodic fun="ground_detect_periodic()" freq="50"/>
<periodic fun="ground_detect_filter_accel()"/>
<makefile>
<file name="ground_detect.c"/>
<test firmware="rotorcraft">
<define name="PERIODIC_FREQUENCY" value="512"/>
<define name="USE_GROUND_DETECT_INDI_THRUST" value="1"/>
<define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
<define name="DOWNLINK_DEVICE" value="uart0"/>
<define name="USE_UART0"/>
<define name="INDI_OUTPUTS" value="1"/>
<define name="INDI_NUM_ACT" value="1"/>
</test>
</makefile>
</module>
26 changes: 0 additions & 26 deletions conf/modules/ground_detect_sensor.xml
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