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sensors: create vehicle_angular_velocity module (#12596)

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* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
This commit is contained in:
Daniel Agar
2019-08-06 12:55:25 -04:00
committed by GitHub
parent bf0eaf4d54
commit 2ad12d7977
34 changed files with 784 additions and 382 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+4 -3
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@@ -95,6 +95,7 @@ void MulticopterLandDetector::_update_topics()
_actuator_controls_sub.update(&_actuator_controls);
_battery_sub.update(&_battery_status);
_sensor_bias_sub.update(&_sensor_bias);
_vehicle_angular_velocity_sub.update(&_vehicle_angular_velocity);
_vehicle_attitude_sub.update(&_vehicle_attitude);
_vehicle_control_mode_sub.update(&_control_mode);
_vehicle_local_position_sub.update(&_vehicle_local_position);
@@ -215,9 +216,9 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
// Next look if all rotation angles are not moving.
float maxRotationScaled = _params.maxRotation_rad_s * landThresholdFactor;
bool rotating = (fabsf(_vehicle_attitude.rollspeed) > maxRotationScaled) ||
(fabsf(_vehicle_attitude.pitchspeed) > maxRotationScaled) ||
(fabsf(_vehicle_attitude.yawspeed) > maxRotationScaled);
bool rotating = (fabsf(_vehicle_angular_velocity.xyz[0]) > maxRotationScaled) ||
(fabsf(_vehicle_angular_velocity.xyz[1]) > maxRotationScaled) ||
(fabsf(_vehicle_angular_velocity.xyz[2]) > maxRotationScaled);
// Return status based on armed state and throttle if no position lock is available.
if (!_has_altitude_lock() && !rotating) {