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fw pos ctrl: organize state variables

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This commit is contained in:
Thomas Stastny
2022-06-14 03:24:00 -05:00
committed by Daniel Agar
parent 2d5f1a5c6b
commit 5648deb5a1
2 changed files with 94 additions and 84 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+3 -3
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@@ -1518,10 +1518,10 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
/* Perform launch detection */
/* Inform user that launchdetection is running every 4s */
if ((now - _launch_detection_notify) > 4_s) {
if ((now - _last_time_launch_detection_notified) > 4_s) {
mavlink_log_critical(&_mavlink_log_pub, "Launch detection running\t");
events::send(events::ID("fixedwing_position_control_launch_detection"), events::Log::Info, "Launch detection running");
_launch_detection_notify = now;
_last_time_launch_detection_notified = now;
}
/* Detect launch using body X (forward) acceleration */
@@ -2465,7 +2465,7 @@ FixedwingPositionControl::reset_takeoff_state()
_launchDetector.reset();
_launch_detection_state = LAUNCHDETECTION_RES_NONE;
_launch_detection_notify = 0;
_last_time_launch_detection_notified = 0;
_launch_detected = false;
}