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Fix land detection for altitude hold

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Lorenz Meier
2016-04-05 15:32:13 -07:00
parent 65d491cafc
commit 321440281b
2 changed files with 11 additions and 0 deletions
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src/modules/land_detector/MulticopterLandDetector.h
+3
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@@ -49,6 +49,7 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/param/param.h>
class MulticopterLandDetector : public LandDetector
@@ -107,11 +108,13 @@ private:
int _armingSub;
int _parameterSub;
int _attitudeSub;
int _manualSub;
struct vehicle_local_position_s _vehicleLocalPosition;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
struct manual_control_setpoint_s _manual;
/* timestamp in microseconds since a possible land was detected */
uint64_t _landTimer;