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LandDetector: Fix land detection algorithm not being initialized

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This commit is contained in:
Johan Jansen
2015-01-15 14:37:51 +01:00
parent 73c7b44f6a
commit 1356c44f0e
1 changed files with 9 additions and 4 deletions
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src/modules/land_detector/LandDetector.cpp
+9 -4
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@@ -8,10 +8,7 @@ LandDetector::LandDetector() :
_taskShouldExit(false), _taskShouldExit(false),
_taskIsRunning(false) _taskIsRunning(false)
{ {
//Advertise the first land detected uORB //ctor
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = false;
_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
} }
LandDetector::~LandDetector() LandDetector::~LandDetector()
@@ -32,6 +29,14 @@ void LandDetector::start()
return; return;
} }
//Advertise the first land detected uORB
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = false;
_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
//Initialize land detection algorithm
initialize();
//Task is now running, keep doing so until shutdown() has been called //Task is now running, keep doing so until shutdown() has been called
_taskIsRunning = true; _taskIsRunning = true;
_taskShouldExit = false; _taskShouldExit = false;