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Rename the invered state and make namespace more clear

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- Addressing review comments
This commit is contained in:
Simone Guscetti
2018-12-10 16:17:23 +01:00
committed by Dennis Mannhart
parent aac9221d95
commit 6938b7fe02
3 changed files with 10 additions and 21 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+5 -16
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@@ -137,7 +137,7 @@ private:
home_position_s _home_pos{}; /**< home position */
vehicle_trajectory_waypoint_s _traj_wp_avoidance{}; /**< trajectory waypoint */
vehicle_trajectory_waypoint_s _traj_wp_avoidance_desired{}; /**< desired waypoints, inputs to an obstacle avoidance module */
landing_gear_s _landing_gear_state{};
landing_gear_s _landing_gear{};
int8_t _old_landing_gear_position;
@@ -597,17 +597,6 @@ MulticopterPositionControl::run()
parameters_update(true);
poll_subscriptions();
// Let's be safe and have the landing gear down by default
_landing_gear_state.landing_gear = landing_gear_s::LANDING_GEAR_DOWN;
_landing_gear_state.timestamp = hrt_absolute_time();
if (_landing_gear_pub != nullptr) {
orb_publish(ORB_ID(landing_gear), _landing_gear_pub, &_landing_gear_state);
} else {
_landing_gear_pub = orb_advertise(ORB_ID(landing_gear), &_landing_gear_state);
}
// setup file descriptor to poll the local position as loop wakeup source
px4_pollfd_struct_t poll_fd = {.fd = _local_pos_sub};
poll_fd.events = POLLIN;
@@ -816,14 +805,14 @@ MulticopterPositionControl::run()
if (_old_landing_gear_position != constraints.landing_gear
&& constraints.landing_gear != vehicle_constraints_s::GEAR_KEEP) {
_landing_gear_state.landing_gear = constraints.landing_gear;
_landing_gear_state.timestamp = hrt_absolute_time();
_landing_gear.landing_gear = constraints.landing_gear;
_landing_gear.timestamp = hrt_absolute_time();
if (_landing_gear_pub != nullptr) {
orb_publish(ORB_ID(landing_gear), _landing_gear_pub, &_landing_gear_state);
orb_publish(ORB_ID(landing_gear), _landing_gear_pub, &_landing_gear);
} else {
_landing_gear_pub = orb_advertise(ORB_ID(landing_gear), &_landing_gear_state);
_landing_gear_pub = orb_advertise(ORB_ID(landing_gear), &_landing_gear);
}
}