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land_detector move orb subscriptions to uORB::Subscription

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This commit is contained in:
Daniel Agar
2019-06-04 18:10:21 -04:00
parent 2320088541
commit 53aa4130a8
10 changed files with 34 additions and 125 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+7 -21
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@@ -90,27 +90,15 @@ MulticopterLandDetector::MulticopterLandDetector()
_ground_contact_hysteresis.set_hysteresis_time_from(false, GROUND_CONTACT_TRIGGER_TIME_US);
}
void MulticopterLandDetector::_initialize_topics()
{
// subscribe to position, attitude and velocity changes
_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
_vehicleLocalPositionSetpointSub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
_attitudeSub = orb_subscribe(ORB_ID(vehicle_attitude));
_actuatorsSub = orb_subscribe(ORB_ID(actuator_controls_0));
_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
_vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
_battery_sub = orb_subscribe(ORB_ID(battery_status));
}
void MulticopterLandDetector::_update_topics()
{
_orb_update(ORB_ID(vehicle_local_position), _vehicleLocalPositionSub, &_vehicleLocalPosition);
_orb_update(ORB_ID(vehicle_local_position_setpoint), _vehicleLocalPositionSetpointSub, &_vehicleLocalPositionSetpoint);
_orb_update(ORB_ID(vehicle_attitude), _attitudeSub, &_vehicleAttitude);
_orb_update(ORB_ID(actuator_controls_0), _actuatorsSub, &_actuators);
_orb_update(ORB_ID(sensor_bias), _sensor_bias_sub, &_sensors);
_orb_update(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub, &_control_mode);
_orb_update(ORB_ID(battery_status), _battery_sub, &_battery);
_vehicleLocalPositionSub.update(&_vehicleLocalPosition);
_vehicleLocalPositionSetpointSub.update(&_vehicleLocalPositionSetpoint);
_attitudeSub.update(&_vehicleAttitude);
_actuatorsSub.update(&_actuators);
_sensor_bias_sub.update(&_sensors);
_vehicle_control_mode_sub.update(&_control_mode);
_battery_sub.update(&_battery);
}
void MulticopterLandDetector::_update_params()
@@ -128,10 +116,8 @@ void MulticopterLandDetector::_update_params()
param_get(_paramHandle.altitude_max, &_params.altitude_max);
param_get(_paramHandle.landSpeed, &_params.landSpeed);
param_get(_paramHandle.low_thrust_threshold, &_params.low_thrust_threshold);
}
bool MulticopterLandDetector::_get_freefall_state()
{
if (_params.freefall_acc_threshold < 0.1f