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land_detector initiate cycle immediately

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- fixes #12190
This commit is contained in:
Daniel Agar
2019-06-15 21:30:09 -04:00
committed by GitHub
parent ce784d1ef0
commit 106ee280c5
3 changed files with 20 additions and 34 deletions
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src/modules/land_detector/LandDetector.cpp
+10 -20
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@@ -57,6 +57,14 @@ LandDetector::LandDetector() :
ScheduledWorkItem(px4::wq_configurations::hp_default),
_cycle_perf(perf_alloc(PC_ELAPSED, "land_detector_cycle"))
{
_landDetected.timestamp = hrt_absolute_time();
_landDetected.freefall = false;
_landDetected.landed = true;
_landDetected.ground_contact = false;
_landDetected.maybe_landed = false;
_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
}
LandDetector::~LandDetector()
@@ -64,33 +72,15 @@ LandDetector::~LandDetector()
perf_free(_cycle_perf);
}
int LandDetector::start()
void LandDetector::start()
{
ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL, 10000);
return PX4_OK;
ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL);
}
void LandDetector::Run()
{
perf_begin(_cycle_perf);
if (_object.load() == nullptr) { // not initialized yet
// Advertise the first land detected uORB.
_landDetected.timestamp = hrt_absolute_time();
_landDetected.freefall = false;
_landDetected.landed = true;
_landDetected.ground_contact = false;
_landDetected.maybe_landed = false;
_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
_check_params(true);
_object.store(this);
}
_check_params(false);
_armingSub.update(&_arming);
_update_topics();