/*
set the flight stage
*/
void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
{
if (fs == flight_stage) {
return;
}
switch (fs) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude());
auto_state.land_in_progress = true;
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence disabled (autodisable)");
}
} else if (g.fence_autoenable == 2) {
if (! geofence_set_floor_enabled(false)) {
gcs_send_text(MAV_SEVERITY_NOTICE, "Disable fence floor failed (autodisable)");
} else {
gcs_send_text(MAV_SEVERITY_NOTICE, "Fence floor disabled (auto disable)");
}
}
#endif
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
auto_state.land_in_progress = false;
break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
auto_state.land_in_progress = true;
break;
case AP_SpdHgtControl::FLIGHT_NORMAL:
case AP_SpdHgtControl::FLIGHT_VTOL:
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
auto_state.land_in_progress = false;
break;
}
flight_stage = fs;
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
}
/*
set the flight stage
*/
void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
{
if (fs == flight_stage) {
return;
}
landing.handle_flight_stage_change(fs == AP_Vehicle::FixedWing::FLIGHT_LAND);
if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
auto_state.takeoff_altitude_rel_cm/100);
}
flight_stage = fs;
Log_Write_Status();
}
void Plane::one_second_loop()
{
if (should_log(MASK_LOG_CURRENT))
Log_Write_Current();
// send a heartbeat
gcs_send_message(MSG_HEARTBEAT);
// make it possible to change control channel ordering at runtime
set_control_channels();
// make it possible to change orientation at runtime
ahrs.set_orientation();
// sync MAVLink system ID
mavlink_system.sysid = g.sysid_this_mav;
update_aux();
// determine if we are flying or not
determine_is_flying();
// update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO;
#if AP_TERRAIN_AVAILABLE
if (should_log(MASK_LOG_GPS)) {
terrain.log_terrain_data(DataFlash);
}
#endif
// piggyback the status log entry on the MODE log entry flag
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
}
/*
Do we think we are flying?
Probabilistic method where a bool is low-passed and considered a probability.
*/
void Plane::update_is_flying_5Hz(void)
{
float aspeed;
bool is_flying_bool;
uint32_t now_ms = AP_HAL::millis();
uint32_t ground_speed_thresh_cm = (g.min_gndspeed_cm > 0) ? ((uint32_t)(g.min_gndspeed_cm*0.9f)) : 500;
bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
(gps.ground_speed_cm() >= ground_speed_thresh_cm);
// airspeed at least 75% of stall speed?
bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f));
if(arming.is_armed()) {
// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
// short drop-outs of GPS are common during flight due to banking which points the antenna in different directions
bool gps_lost_recently = (gps.last_fix_time_ms() > 0) && // we have locked to GPS before
(gps.status() < AP_GPS::GPS_OK_FIX_2D) && // and it's lost now
(now_ms - gps.last_fix_time_ms() < 5000); // but it wasn't that long ago (<5s)
if ((auto_state.last_flying_ms > 0) && gps_lost_recently) {
// we've flown before, remove GPS constraints temporarily and only use airspeed
is_flying_bool = airspeed_movement; // moving through the air
} else {
// we've never flown yet, require good GPS movement
is_flying_bool = airspeed_movement || // moving through the air
gps_confirmed_movement; // locked and we're moving
}
if (control_mode == AUTO) {
/*
make is_flying() more accurate during various auto modes
*/
// Detect X-axis deceleration for probable ground impacts.
// Limit the max probability so it can decay faster. This
// will not change the is_flying state, anything above 0.1
// is "true", it just allows it to decay faster once we decide we
// aren't flying using the normal schemes
if (g.crash_accel_threshold == 0) {
crash_state.impact_detected = false;
} else if (ins.get_accel_peak_hold_neg_x() < -(g.crash_accel_threshold)) {
// large deceleration detected, lets lower confidence VERY quickly
crash_state.impact_detected = true;
crash_state.impact_timer_ms = now_ms;
if (isFlyingProbability > 0.2f) {
isFlyingProbability = 0.2f;
}
} else if (crash_state.impact_detected &&
(now_ms - crash_state.impact_timer_ms > IS_FLYING_IMPACT_TIMER_MS)) {
// no impacts seen in a while, clear the flag so we stop clipping isFlyingProbability
crash_state.impact_detected = false;
}
switch (flight_stage)
{
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
break;
case AP_SpdHgtControl::FLIGHT_NORMAL:
if (in_preLaunch_flight_stage()) {
// while on the ground, an uncalibrated airspeed sensor can drift to 7m/s so
// ensure we aren't showing a false positive.
is_flying_bool = false;
crash_state.is_crashed = false;
auto_state.started_flying_in_auto_ms = 0;
}
break;
case AP_SpdHgtControl::FLIGHT_VTOL:
// TODO: detect ground impacts
break;
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
if (fabsf(auto_state.sink_rate) > 0.2f) {
is_flying_bool = true;
}
break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
if (auto_state.sink_rate < -0.5f) {
// steep climb
is_flying_bool = true;
}
break;
default:
break;
} // switch
}
} else {
// when disarmed assume not flying and need overwhelming evidence that we ARE flying
is_flying_bool = airspeed_movement && gps_confirmed_movement;
if ((control_mode == AUTO) &&
((flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) ||
(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL)) ) {
is_flying_bool = false;
}
}
if (!crash_state.impact_detected || !is_flying_bool) {
// when impact is detected, enforce a clip. Only allow isFlyingProbability to go down, not up.
// low-pass the result.
// coef=0.15f @ 5Hz takes 3.0s to go from 100% down to 10% (or 0% up to 90%)
isFlyingProbability = (0.85f * isFlyingProbability) + (0.15f * (float)is_flying_bool);
}
if (quadplane.is_flying()) {
is_flying_bool = true;
}
/*
update last_flying_ms so we always know how long we have not
been flying for. This helps for crash detection and auto-disarm
*/
bool new_is_flying = is_flying();
// we are flying, note the time
if (new_is_flying) {
auto_state.last_flying_ms = now_ms;
if (!previous_is_flying) {
// just started flying in any mode
started_flying_ms = now_ms;
}
if ((control_mode == AUTO) &&
((auto_state.started_flying_in_auto_ms == 0) || !previous_is_flying) ) {
// We just started flying, note that time also
auto_state.started_flying_in_auto_ms = now_ms;
}
}
previous_is_flying = new_is_flying;
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
}
/*
Do we think we are flying?
Probabilistic method where a bool is low-passed and considered a probability.
*/
void Plane::update_is_flying_5Hz(void)
{
float aspeed;
bool is_flying_bool;
uint32_t now_ms = AP_HAL::millis();
uint32_t ground_speed_thresh_cm = (g.min_gndspeed_cm > 0) ? ((uint32_t)(g.min_gndspeed_cm*0.9f)) : 500;
bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
(gps.ground_speed_cm() >= ground_speed_thresh_cm);
// airspeed at least 75% of stall speed?
bool airspeed_movement = ahrs.airspeed_estimate(&aspeed) && (aspeed >= (aparm.airspeed_min*0.75f));
if(arming.is_armed()) {
// when armed assuming flying and we need overwhelming evidence that we ARE NOT flying
// short drop-outs of GPS are common during flight due to banking which points the antenna in different directions
bool gps_lost_recently = (gps.last_fix_time_ms() > 0) && // we have locked to GPS before
(gps.status() < AP_GPS::GPS_OK_FIX_2D) && // and it's lost now
(now_ms - gps.last_fix_time_ms() < 5000); // but it wasn't that long ago (<5s)
if ((auto_state.last_flying_ms > 0) && gps_lost_recently) {
// we've flown before, remove GPS constraints temporarily and only use airspeed
is_flying_bool = airspeed_movement; // moving through the air
} else {
// we've never flown yet, require good GPS movement
is_flying_bool = airspeed_movement || // moving through the air
gps_confirmed_movement; // locked and we're moving
}
if (control_mode == AUTO) {
/*
make is_flying() more accurate during various auto modes
*/
switch (flight_stage)
{
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
// while on the ground, an uncalibrated airspeed sensor can drift to 7m/s so
// ensure we aren't showing a false positive. If the throttle is suppressed
// we are definitely not flying, or at least for not much longer!
if (throttle_suppressed) {
is_flying_bool = false;
crash_state.is_crashed = false;
}
break;
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
case AP_SpdHgtControl::FLIGHT_NORMAL:
// TODO: detect ground impacts
break;
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
// TODO: detect ground impacts
if (fabsf(auto_state.sink_rate) > 0.2f) {
is_flying_bool = true;
}
break;
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
break;
} // switch
}
} else {
// when disarmed assume not flying and need overwhelming evidence that we ARE flying
is_flying_bool = airspeed_movement && gps_confirmed_movement;
if ((control_mode == AUTO) &&
((flight_stage == AP_SpdHgtControl::FLIGHT_TAKEOFF) ||
(flight_stage == AP_SpdHgtControl::FLIGHT_LAND_FINAL)) ) {
is_flying_bool = false;
}
}
// low-pass the result.
// coef=0.15f @ 5Hz takes 3.0s to go from 100% down to 10% (or 0% up to 90%)
isFlyingProbability = (0.85f * isFlyingProbability) + (0.15f * (float)is_flying_bool);
/*
update last_flying_ms so we always know how long we have not
been flying for. This helps for crash detection and auto-disarm
*/
bool new_is_flying = is_flying();
// we are flying, note the time
if (new_is_flying) {
auto_state.last_flying_ms = now_ms;
if (!previous_is_flying) {
// just started flying in any mode
started_flying_ms = now_ms;
}
if ((control_mode == AUTO) &&
((auto_state.started_flying_in_auto_ms == 0) || !previous_is_flying) ) {
// We just started flying, note that time also
auto_state.started_flying_in_auto_ms = now_ms;
}
}
previous_is_flying = new_is_flying;
if (should_log(MASK_LOG_MODE)) {
Log_Write_Status();
}
}