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land_detector: big refactor, share update function

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This is a big refactor and general cleanup of the land detector. The
main functional change is to share the hysteresis lib across all land
detectors.
This commit is contained in:
Julian Oes
2016-07-30 12:26:56 +02:00
parent 9f928308c4
commit 50cac88e5b
9 changed files with 337 additions and 382 deletions
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src/modules/land_detector/land_detector_main.cpp
+27 -7
View File
@@ -55,7 +55,8 @@
#include "MulticopterLandDetector.h"
#include "VtolLandDetector.h"
namespace landdetection
namespace land_detector
{
//Function prototypes
@@ -83,7 +84,7 @@ static void land_detector_stop()
return;
}
land_detector_task->shutdown();
land_detector_task->stop();
// Wait for task to die
int i = 0;
@@ -92,7 +93,7 @@ static void land_detector_stop()
/* wait 20ms */
usleep(20000);
} while (land_detector_task->isRunning() && ++i < 50);
} while (land_detector_task->is_running() && ++i < 50);
delete land_detector_task;
@@ -146,8 +147,8 @@ static int land_detector_start(const char *mode)
usleep(10000);
/* check if the waiting involving dots and a newline are still needed */
if (!land_detector_task->isRunning()) {
while (!land_detector_task->isRunning()) {
if (!land_detector_task->is_running()) {
while (!land_detector_task->is_running()) {
usleep(50000);
if (hrt_absolute_time() > timeout) {
@@ -191,8 +192,27 @@ int land_detector_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
if (land_detector_task) {
if (land_detector_task->isRunning()) {
PX4_WARN("running (%s): %s", _currentMode, (land_detector_task->isLanded()) ? "LANDED" : "IN AIR");
if (land_detector_task->is_running()) {
PX4_INFO("running (%s): %s", _currentMode);
LandDetector::LandDetectionState state = land_detector_task->get_state();
switch (state) {
case LandDetector::LandDetectionState::FLYING:
PX4_INFO("State: Flying");
break;
case LandDetector::LandDetectionState::LANDED:
PX4_INFO("State: Landed");
break;
case LandDetector::LandDetectionState::FREEFALL:
PX4_INFO("State: Freefall");
break;
default:
PX4_ERR("State: unknown");
break;
}
} else {
PX4_WARN("exists, but not running (%s)", _currentMode);