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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/MulticopterLandDetector.h
+8 -1
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@@ -71,7 +71,11 @@ protected:
bool _get_maybe_landed_state() override;
bool _get_freefall_state() override;
bool _get_ground_effect_state() override;
bool _get_in_descend() override { return _in_descend; }
bool _get_has_low_throttle() override { return _has_low_throttle; }
bool _get_horizontal_movement() override { return _horizontal_movement; }
bool _get_vertical_movement() override { return _vertical_movement; }
bool _get_close_to_ground_or_skipped_check() override { return _close_to_ground_or_skipped_check; }
float _get_max_altitude() override;
void _set_hysteresis_factor(const int factor) override;
@@ -137,6 +141,9 @@ private:
bool _in_descend{false}; ///< vehicle is desending
bool _horizontal_movement{false}; ///< vehicle is moving horizontally
bool _vertical_movement{false};
bool _has_low_throttle{false};
bool _close_to_ground_or_skipped_check{false};
bool _below_gnd_effect_hgt{false}; ///< vehicle height above ground is below height where ground effect occurs
DEFINE_PARAMETERS_CUSTOM_PARENT(