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landdetector: hit ground logic

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This commit is contained in:
Dennis Mannhart
2017-08-01 19:31:34 +02:00
committed by Lorenz Meier
parent 363ed43d38
commit 549d8da6ee
2 changed files with 27 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.h
+6
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@@ -44,6 +44,7 @@
#include <systemlib/param/param.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
@@ -97,6 +98,7 @@ private:
param_t manual_stick_down_threshold;
param_t altitude_max;
param_t manual_stick_up_position_takeoff_threshold;
param_t landSpeed;
} _paramHandle;
struct {
@@ -112,9 +114,11 @@ private:
float manual_stick_down_threshold;
float altitude_max;
float manual_stick_up_position_takeoff_threshold;
float landSpeed;
} _params;
int _vehicleLocalPositionSub;
int _vehicleLocalPositionSetpointSub;
int _actuatorsSub;
int _armingSub;
int _attitudeSub;
@@ -124,6 +128,7 @@ private:
int _battery_sub;
struct vehicle_local_position_s _vehicleLocalPosition;
struct vehicle_local_position_setpoint_s _vehicleLocalPositionSetpoint;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
@@ -142,6 +147,7 @@ private:
bool _has_manual_control_present();
bool _has_minimal_thrust();
bool _has_low_thrust();
bool _is_velocity_control_active();
};