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land detector: log more states in order to facilitate debugging ground contact state

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
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RomanBapst
2021-05-04 16:43:33 +02:00
committed by Matthias Grob
parent 3348869ae1
commit 269ce07cb5
5 changed files with 36 additions and 12 deletions
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src/modules/land_detector/LandDetector.cpp
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@@ -147,6 +147,11 @@ void LandDetector::Run()
_land_detected.ground_contact = ground_contactDetected;
_land_detected.alt_max = alt_max;
_land_detected.in_ground_effect = in_ground_effect;
_land_detected.in_descend = _get_in_descend();
_land_detected.has_low_throttle = _get_has_low_throttle();
_land_detected.horizontal_movement = _get_horizontal_movement();
_land_detected.vertical_movement = _get_vertical_movement();
_land_detected.close_to_ground_or_skipped_check = _get_close_to_ground_or_skipped_check();
_land_detected.timestamp = hrt_absolute_time();
_vehicle_land_detected_pub.publish(_land_detected);
}