Class managing Plane Deepstall landing methods. More...

#include <AP_Landing_Deepstall.h>

Collaboration diagram for AP_Landing_Deepstall:

Private Types
enum	deepstall_stage { DEEPSTALL_STAGE_FLY_TO_LANDING, DEEPSTALL_STAGE_ESTIMATE_WIND, DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT, DEEPSTALL_STAGE_FLY_TO_ARC, DEEPSTALL_STAGE_ARC, DEEPSTALL_STAGE_APPROACH, DEEPSTALL_STAGE_LAND }

Private Member Functions
	AP_Landing_Deepstall (AP_Landing &_landing)

void	do_land (const AP_Mission::Mission_Command &cmd, const float relative_altitude)

void	verify_abort_landing (const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)

bool	verify_land (const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range)

void	setup_landing_glide_slope (const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm)

bool	override_servos (void)

bool	request_go_around (void)

bool	get_target_altitude_location (Location &location)

int32_t	get_target_airspeed_cm (void) const

bool	is_throttle_suppressed (void) const

bool	is_flying_forward (void) const

bool	is_on_approach (void) const

bool	terminate (void)

void	Log (void) const

bool	send_deepstall_message (mavlink_channel_t chan) const

const DataFlash_Class::PID_Info &	get_pid_info (void) const

void	build_approach_path (bool use_current_heading)

float	predict_travel_distance (const Vector3f wind, const float height, const bool print)

bool	verify_breakout (const Location &current_loc, const Location &target_loc, const float height_error) const

float	update_steering (void)

Private Attributes
AP_Landing &	landing

AP_Float	forward_speed

AP_Float	slope_a

AP_Float	slope_b

AP_Float	approach_extension

AP_Float	down_speed

AP_Float	slew_speed

AP_Int16	elevator_pwm

AP_Float	handoff_airspeed

AP_Float	handoff_lower_limit_airspeed

AP_Float	L1_period

AP_Float	L1_i

AP_Float	yaw_rate_limit

AP_Float	time_constant

AP_Float	min_abort_alt

AP_Float	aileron_scalar

int32_t	loiter_sum_cd

deepstall_stage	stage

Location	landing_point

Location	extended_approach

Location	breakout_location

Location	arc

Location	arc_entry

Location	arc_exit

float	target_heading_deg

uint32_t	stall_entry_time

uint16_t	initial_elevator_pwm

uint32_t	last_time

float	L1_xtrack_i

PID	ds_PID

int32_t	last_target_bearing

float	crosstrack_error

float	predicted_travel_distance

bool	hold_level

float	approach_alt_offset

Static Private Attributes
static const struct AP_Param::GroupInfo	var_info []

Friends
class	AP_Landing

Detailed Description

Class managing Plane Deepstall landing methods.

Definition at line 30 of file AP_Landing_Deepstall.h.

Member Enumeration Documentation

◆ deepstall_stage

enum AP_Landing_Deepstall::deepstall_stage

private

Enumerator
DEEPSTALL_STAGE_FLY_TO_LANDING
DEEPSTALL_STAGE_ESTIMATE_WIND
DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT
DEEPSTALL_STAGE_FLY_TO_ARC
DEEPSTALL_STAGE_ARC
DEEPSTALL_STAGE_APPROACH
DEEPSTALL_STAGE_LAND

Definition at line 47 of file AP_Landing_Deepstall.h.

Constructor & Destructor Documentation

◆ AP_Landing_Deepstall()

AP_Landing_Deepstall::AP_Landing_Deepstall ( AP_Landing & _landing )

inlineprivate

Definition at line 36 of file AP_Landing_Deepstall.h.

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Member Function Documentation

◆ build_approach_path()

void AP_Landing_Deepstall::build_approach_path ( bool use_current_heading )

private

Definition at line 476 of file AP_Landing_Deepstall.cpp.

Referenced by terminate(), and verify_land().

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◆ do_land()

void AP_Landing_Deepstall::do_land	(	const AP_Mission::Mission_Command &	cmd,
		const float	relative_altitude
	)

private

Definition at line 153 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::do_land().

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◆ get_pid_info()

const DataFlash_Class::PID_Info & AP_Landing_Deepstall::get_pid_info ( void ) const

private

Definition at line 426 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::get_pid_info().

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◆ get_target_airspeed_cm()

int32_t AP_Landing_Deepstall::get_target_airspeed_cm ( void ) const

private

Definition at line 398 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::get_target_airspeed_cm().

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◆ get_target_altitude_location()

bool AP_Landing_Deepstall::get_target_altitude_location ( Location & location )

private

Definition at line 392 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::get_target_altitude_location().

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◆ is_flying_forward()

bool AP_Landing_Deepstall::is_flying_forward ( void ) const

private

Definition at line 382 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::is_flying_forward().

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◆ is_on_approach()

bool AP_Landing_Deepstall::is_on_approach ( void ) const

private

Definition at line 387 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::is_on_approach().

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◆ is_throttle_suppressed()

bool AP_Landing_Deepstall::is_throttle_suppressed ( void ) const

private

Definition at line 377 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::is_throttle_suppressed().

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◆ Log()

void AP_Landing_Deepstall::Log ( void ) const

private

Definition at line 431 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::Log().

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◆ override_servos()

bool AP_Landing_Deepstall::override_servos ( void )

private

Definition at line 313 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::override_servos(), and terminate().

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◆ predict_travel_distance()

float AP_Landing_Deepstall::predict_travel_distance	(	const Vector3f	wind,
		const float	height,
		const bool	print
	)

private

Definition at line 523 of file AP_Landing_Deepstall.cpp.

Referenced by build_approach_path(), and verify_land().

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◆ request_go_around()

bool AP_Landing_Deepstall::request_go_around ( void )

private

Definition at line 364 of file AP_Landing_Deepstall.cpp.

Referenced by override_servos(), and AP_Landing::request_go_around().

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◆ send_deepstall_message()

bool AP_Landing_Deepstall::send_deepstall_message ( mavlink_channel_t chan ) const

private

Definition at line 408 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::send_landing_message().

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◆ setup_landing_glide_slope()

void AP_Landing_Deepstall::setup_landing_glide_slope	(	const Location &	prev_WP_loc,
		const Location &	next_WP_loc,
		const Location &	current_loc,
		int32_t &	target_altitude_offset_cm
	)

private

◆ terminate()

bool AP_Landing_Deepstall::terminate ( void )

private

Definition at line 456 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::terminate().

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◆ update_steering()

float AP_Landing_Deepstall::update_steering ( void )

private

Definition at line 588 of file AP_Landing_Deepstall.cpp.

Referenced by override_servos().

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◆ verify_abort_landing()

void AP_Landing_Deepstall::verify_abort_landing	(	const Location &	prev_WP_loc,
		Location &	next_WP_loc,
		bool &	throttle_suppressed
	)

private

Definition at line 172 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::verify_abort_landing().

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◆ verify_breakout()

bool AP_Landing_Deepstall::verify_breakout	(	const Location &	current_loc,
		const Location &	target_loc,
		const float	height_error
	)		const

private

Definition at line 572 of file AP_Landing_Deepstall.cpp.

Referenced by verify_land().

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◆ verify_land()

bool AP_Landing_Deepstall::verify_land	(	const Location &	prev_WP_loc,
		Location &	next_WP_loc,
		const Location &	current_loc,
		const float	height,
		const float	sink_rate,
		const float	wp_proportion,
		const uint32_t	last_flying_ms,
		const bool	is_armed,
		const bool	is_flying,
		const bool	rangefinder_state_in_range
	)

private

Definition at line 184 of file AP_Landing_Deepstall.cpp.

Referenced by AP_Landing::verify_land().

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Friends And Related Function Documentation

◆ AP_Landing

friend class AP_Landing

friend

Definition at line 33 of file AP_Landing_Deepstall.h.

Member Data Documentation

◆ aileron_scalar

AP_Float AP_Landing_Deepstall::aileron_scalar

private

Definition at line 71 of file AP_Landing_Deepstall.h.

Referenced by override_servos().

◆ approach_alt_offset

float AP_Landing_Deepstall::approach_alt_offset

private

Definition at line 90 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), do_land(), and verify_land().

◆ approach_extension

AP_Float AP_Landing_Deepstall::approach_extension

private

Definition at line 60 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path().

◆ arc

Location AP_Landing_Deepstall::arc

private

Definition at line 77 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), and verify_land().

◆ arc_entry

Location AP_Landing_Deepstall::arc_entry

private

Definition at line 78 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), send_deepstall_message(), and verify_land().

◆ arc_exit

Location AP_Landing_Deepstall::arc_exit

private

Definition at line 79 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), send_deepstall_message(), update_steering(), and verify_land().

◆ breakout_location

Location AP_Landing_Deepstall::breakout_location

private

Definition at line 76 of file AP_Landing_Deepstall.h.

Referenced by verify_land().

◆ crosstrack_error

float AP_Landing_Deepstall::crosstrack_error

private

Definition at line 87 of file AP_Landing_Deepstall.h.

Referenced by Log(), send_deepstall_message(), and update_steering().

◆ down_speed

AP_Float AP_Landing_Deepstall::down_speed

private

Definition at line 61 of file AP_Landing_Deepstall.h.

Referenced by predict_travel_distance().

◆ ds_PID

PID AP_Landing_Deepstall::ds_PID

private

Definition at line 85 of file AP_Landing_Deepstall.h.

Referenced by do_land(), get_pid_info(), Log(), terminate(), and update_steering().

◆ elevator_pwm

AP_Int16 AP_Landing_Deepstall::elevator_pwm

private

Definition at line 63 of file AP_Landing_Deepstall.h.

Referenced by override_servos().

◆ extended_approach

Location AP_Landing_Deepstall::extended_approach

private

Definition at line 75 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), update_steering(), and verify_land().

◆ forward_speed

AP_Float AP_Landing_Deepstall::forward_speed

private

Definition at line 57 of file AP_Landing_Deepstall.h.

Referenced by predict_travel_distance().

◆ handoff_airspeed

AP_Float AP_Landing_Deepstall::handoff_airspeed

private

Definition at line 64 of file AP_Landing_Deepstall.h.

Referenced by override_servos().

◆ handoff_lower_limit_airspeed

AP_Float AP_Landing_Deepstall::handoff_lower_limit_airspeed

private

Definition at line 65 of file AP_Landing_Deepstall.h.

Referenced by override_servos().

◆ hold_level

bool AP_Landing_Deepstall::hold_level

private

Definition at line 89 of file AP_Landing_Deepstall.h.

Referenced by do_land(), terminate(), and update_steering().

◆ initial_elevator_pwm

uint16_t AP_Landing_Deepstall::initial_elevator_pwm

private

Definition at line 82 of file AP_Landing_Deepstall.h.

Referenced by override_servos(), and verify_land().

◆ L1_i

AP_Float AP_Landing_Deepstall::L1_i

private

Definition at line 67 of file AP_Landing_Deepstall.h.

Referenced by update_steering().

◆ L1_period

AP_Float AP_Landing_Deepstall::L1_period

private

Definition at line 66 of file AP_Landing_Deepstall.h.

Referenced by update_steering().

◆ L1_xtrack_i

float AP_Landing_Deepstall::L1_xtrack_i

private

Definition at line 84 of file AP_Landing_Deepstall.h.

Referenced by do_land(), Log(), terminate(), and update_steering().

◆ landing

AP_Landing& AP_Landing_Deepstall::landing

private

Definition at line 42 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), get_target_airspeed_cm(), override_servos(), request_go_around(), terminate(), update_steering(), verify_abort_landing(), verify_breakout(), and verify_land().

◆ landing_point

Location AP_Landing_Deepstall::landing_point

private

Definition at line 74 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), do_land(), get_target_altitude_location(), Log(), send_deepstall_message(), terminate(), update_steering(), and verify_land().

◆ last_target_bearing

int32_t AP_Landing_Deepstall::last_target_bearing

private

Definition at line 86 of file AP_Landing_Deepstall.h.

Referenced by verify_land().

◆ last_time

uint32_t AP_Landing_Deepstall::last_time

private

Definition at line 83 of file AP_Landing_Deepstall.h.

Referenced by update_steering().

◆ loiter_sum_cd

int32_t AP_Landing_Deepstall::loiter_sum_cd

private

Definition at line 72 of file AP_Landing_Deepstall.h.

Referenced by Log(), and verify_land().

◆ min_abort_alt

AP_Float AP_Landing_Deepstall::min_abort_alt

private

Definition at line 70 of file AP_Landing_Deepstall.h.

Referenced by request_go_around().

◆ predicted_travel_distance

float AP_Landing_Deepstall::predicted_travel_distance

private

Definition at line 88 of file AP_Landing_Deepstall.h.

Referenced by Log(), predict_travel_distance(), and send_deepstall_message().

◆ slew_speed

AP_Float AP_Landing_Deepstall::slew_speed

private

Definition at line 62 of file AP_Landing_Deepstall.h.

Referenced by override_servos().

◆ slope_a

AP_Float AP_Landing_Deepstall::slope_a

private

Definition at line 58 of file AP_Landing_Deepstall.h.

Referenced by predict_travel_distance().

◆ slope_b

AP_Float AP_Landing_Deepstall::slope_b

private

Definition at line 59 of file AP_Landing_Deepstall.h.

Referenced by predict_travel_distance().

◆ stage

deepstall_stage AP_Landing_Deepstall::stage

private

Definition at line 73 of file AP_Landing_Deepstall.h.

Referenced by do_land(), get_target_airspeed_cm(), is_flying_forward(), is_on_approach(), is_throttle_suppressed(), Log(), override_servos(), send_deepstall_message(), terminate(), and verify_land().

◆ stall_entry_time

uint32_t AP_Landing_Deepstall::stall_entry_time

private

Definition at line 81 of file AP_Landing_Deepstall.h.

Referenced by override_servos(), terminate(), and verify_land().

◆ target_heading_deg

float AP_Landing_Deepstall::target_heading_deg

private

Definition at line 80 of file AP_Landing_Deepstall.h.

Referenced by build_approach_path(), Log(), predict_travel_distance(), update_steering(), and verify_land().

◆ time_constant

AP_Float AP_Landing_Deepstall::time_constant

private

Definition at line 69 of file AP_Landing_Deepstall.h.

Referenced by update_steering().

◆ var_info

const AP_Param::GroupInfo AP_Landing_Deepstall::var_info

staticprivate

Definition at line 44 of file AP_Landing_Deepstall.h.

Referenced by AP_Landing_Deepstall().

◆ yaw_rate_limit

AP_Float AP_Landing_Deepstall::yaw_rate_limit

private

Definition at line 68 of file AP_Landing_Deepstall.h.

Referenced by update_steering().

The documentation for this class was generated from the following files:

libraries/AP_Landing/AP_Landing_Deepstall.h
libraries/AP_Landing/AP_Landing_Deepstall.cpp

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Friends

Detailed Description

Member Enumeration Documentation

◆ deepstall_stage

Constructor & Destructor Documentation

◆ AP_Landing_Deepstall()

Member Function Documentation

◆ build_approach_path()

◆ do_land()

◆ get_pid_info()

◆ get_target_airspeed_cm()

◆ get_target_altitude_location()

◆ is_flying_forward()

◆ is_on_approach()

◆ is_throttle_suppressed()

◆ Log()

◆ override_servos()

◆ predict_travel_distance()

◆ request_go_around()

◆ send_deepstall_message()

◆ setup_landing_glide_slope()

◆ terminate()

◆ update_steering()

◆ verify_abort_landing()

◆ verify_breakout()

◆ verify_land()

Friends And Related Function Documentation

◆ AP_Landing

Member Data Documentation

◆ aileron_scalar

◆ approach_alt_offset

◆ approach_extension

◆ arc

◆ arc_entry

◆ arc_exit

◆ breakout_location

◆ crosstrack_error

◆ down_speed

◆ ds_PID

◆ elevator_pwm

◆ extended_approach

◆ forward_speed

◆ handoff_airspeed

◆ handoff_lower_limit_airspeed

◆ hold_level

◆ initial_elevator_pwm

◆ L1_i

◆ L1_period

◆ L1_xtrack_i

◆ landing

◆ landing_point

◆ last_target_bearing

◆ last_time

◆ loiter_sum_cd

◆ min_abort_alt

◆ predicted_travel_distance

◆ slew_speed

◆ slope_a

◆ slope_b

◆ stage

◆ stall_entry_time

◆ target_heading_deg

◆ time_constant

◆ var_info

◆ yaw_rate_limit