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land_detector: cleanup actuator_armed and battery_status naming

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* Rename _arming -> _actuator_armed
 * Rename _battery -> _battery_status in the MulticopterLandDetector class.
This commit is contained in:
Mark Sauder
2019-06-27 12:02:14 -04:00
committed by Daniel Agar
parent 94c1f21473
commit 1466d11acc
6 changed files with 14 additions and 14 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+7 -7
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@@ -93,7 +93,7 @@ MulticopterLandDetector::MulticopterLandDetector()
void MulticopterLandDetector::_update_topics()
{
_actuator_controls_sub.update(&_actuator_controls);
_battery_sub.update(&_battery);
_battery_sub.update(&_battery_status);
_sensor_bias_sub.update(&_sensor_bias);
_vehicle_attitude_sub.update(&_vehicle_attitude);
_vehicle_control_mode_sub.update(&_control_mode);
@@ -141,7 +141,7 @@ bool MulticopterLandDetector::_get_freefall_state()
bool MulticopterLandDetector::_get_ground_contact_state()
{
// When not armed, consider to have ground-contact
if (!_arming.armed) {
if (!_actuator_armed.armed) {
return true;
}
@@ -192,7 +192,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
const hrt_abstime now = hrt_absolute_time();
// When not armed, consider to be maybe-landed
if (!_arming.armed) {
if (!_actuator_armed.armed) {
return true;
}
@@ -239,7 +239,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
bool MulticopterLandDetector::_get_landed_state()
{
// When not armed, consider to be landed
if (!_arming.armed) {
if (!_actuator_armed.armed) {
return true;
}
@@ -265,15 +265,15 @@ float MulticopterLandDetector::_get_max_altitude()
/* ToDo: add a meaningful altitude */
float valid_altitude_max = _params.altitude_max;
if (_battery.warning == battery_status_s::BATTERY_WARNING_LOW) {
if (_battery_status.warning == battery_status_s::BATTERY_WARNING_LOW) {
valid_altitude_max = _params.altitude_max * 0.75f;
}
if (_battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
if (_battery_status.warning == battery_status_s::BATTERY_WARNING_CRITICAL) {
valid_altitude_max = _params.altitude_max * 0.5f;
}
if (_battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
if (_battery_status.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
valid_altitude_max = _params.altitude_max * 0.25f;
}