fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 16:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

LandDetector: switch land flags to properies instead of one state

Browse Source
This commit is contained in:
Matthias Grob
2019-10-16 00:47:01 -04:00
committed by Daniel Agar
parent 1e1549a169
commit 679e4fedf5
5 changed files with 20 additions and 71 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/LandDetector.cpp
+5 -28
View File
@@ -48,13 +48,7 @@ namespace land_detector
LandDetector::LandDetector() :
ModuleParams(nullptr),
ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::att_pos_ctrl)
{
_land_detected.timestamp = hrt_absolute_time();
_land_detected.freefall = false;
_land_detected.landed = true;
_land_detected.ground_contact = false;
_land_detected.maybe_landed = false;
}
{}
LandDetector::~LandDetector()
{
@@ -76,12 +70,11 @@ void LandDetector::Run()
_update_topics();
_update_state();
const bool landDetected = (_state == LandDetectionState::LANDED);
const bool freefallDetected = (_state == LandDetectionState::FREEFALL);
const bool maybe_landedDetected = (_state == LandDetectionState::MAYBE_LANDED);
const bool ground_contactDetected = (_state == LandDetectionState::GROUND_CONTACT);
const bool freefallDetected = _freefall_hysteresis.get_state();
const bool ground_contactDetected = _ground_contact_hysteresis.get_state();
const bool maybe_landedDetected = _maybe_landed_hysteresis.get_state();
const bool landDetected = _landed_hysteresis.get_state();
const float alt_max = _get_max_altitude() > 0.0f ? _get_max_altitude() : INFINITY;
const bool in_ground_effect = _ground_effect_hysteresis.get_state();
const hrt_abstime now = hrt_absolute_time();
@@ -163,22 +156,6 @@ void LandDetector::_update_state()
_maybe_landed_hysteresis.set_state_and_update(_get_maybe_landed_state(), now_us);
_ground_contact_hysteresis.set_state_and_update(_get_ground_contact_state(), now_us);
_ground_effect_hysteresis.set_state_and_update(_get_ground_effect_state(), now_us);
if (_freefall_hysteresis.get_state()) {
_state = LandDetectionState::FREEFALL;
} else if (_landed_hysteresis.get_state()) {
_state = LandDetectionState::LANDED;
} else if (_maybe_landed_hysteresis.get_state()) {
_state = LandDetectionState::MAYBE_LANDED;
} else if (_ground_contact_hysteresis.get_state()) {
_state = LandDetectionState::GROUND_CONTACT;
} else {
_state = LandDetectionState::FLYING;
}
}
void LandDetector::_update_topics()