fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 00:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Revert "Make LandingTargetEstimator a lib and run on work_queue"

Browse Source 
This reverts commit 37c2d242b159ccf55d6de999b268204fde2eed50.
This commit is contained in:
Julian Oes
2023-03-13 11:05:06 +01:00
committed by Alessandro Simovic
parent 3c0fa76e2f
commit 2eda7d1379
9 changed files with 179 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/CMakeLists.txt
+3 -11
View File
@@ -32,16 +32,8 @@
############################################################################
px4_add_library(FlightTaskAutoPrecisionLanding
FlightTaskAutoPrecisionLanding.cpp
FlightTaskAutoPrecisionLanding.cpp
)
target_link_libraries(FlightTaskAutoPrecisionLanding
PUBLIC
FlightTaskAuto
LandingTargetEstimator
)
target_include_directories(FlightTaskAutoPrecisionLanding
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_link_libraries(FlightTaskAutoPrecisionLanding PUBLIC FlightTaskAuto)
target_include_directories(FlightTaskAutoPrecisionLanding PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.cpp
-10
View File
@@ -45,16 +45,6 @@
static constexpr const char *LOST_TARGET_ERROR_MESSAGE = "Lost landing target while landing";
FlightTaskAutoPrecisionLanding::FlightTaskAutoPrecisionLanding()
{
_landing_target_estimator.Start();
}
FlightTaskAutoPrecisionLanding::~FlightTaskAutoPrecisionLanding()
{
_landing_target_estimator.Stop();
}
bool FlightTaskAutoPrecisionLanding::activate(const trajectory_setpoint_s &last_setpoint)
{
bool ret = FlightTask::activate(last_setpoint);
src/modules/flight_mode_manager/tasks/AutoPrecisionLanding/FlightTaskAutoPrecisionLanding.hpp
+2 -5
View File
@@ -45,7 +45,6 @@
#include <matrix/math.hpp>
#include <mathlib/mathlib.h>
#include <landing_target_estimator/LandingTargetEstimator.h>
#include <lib/geo/geo.h>
#include <px4_platform_common/module_params.h>
#include <uORB/Subscription.hpp>
@@ -75,8 +74,8 @@ enum class PrecLandMode {
class FlightTaskAutoPrecisionLanding : public FlightTaskAuto
{
public:
FlightTaskAutoPrecisionLanding();
~FlightTaskAutoPrecisionLanding();
FlightTaskAutoPrecisionLanding() = default;
virtual ~FlightTaskAutoPrecisionLanding() = default;
bool activate(const trajectory_setpoint_s &last_setpoint) override;
@@ -105,8 +104,6 @@ private:
bool check_state_conditions(PrecLandState state);
void slewrate(float &sp_x, float &sp_y);
landing_target_estimator::LandingTargetEstimator _landing_target_estimator;
landing_target_pose_s _target_pose{}; /**< precision landing target position */
uORB::Subscription _target_pose_sub{ORB_ID(landing_target_pose)};