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Move land detector changes to vtol

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This commit is contained in:
sanderux
2017-08-09 08:12:54 +02:00
committed by Lorenz Meier
parent 49d2e8a3ff
commit 6ee24a0c80
4 changed files with 23 additions and 15 deletions
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src/modules/land_detector/VtolLandDetector.cpp
+19
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@@ -50,6 +50,7 @@ VtolLandDetector::VtolLandDetector() :
_paramHandle(),
_params(),
_airspeedSub(-1),
_vehicle_status_sub(-1),
_airspeed{},
_was_in_air(false),
_airspeed_filtered(0)
@@ -62,6 +63,7 @@ void VtolLandDetector::_initialize_topics()
MulticopterLandDetector::_initialize_topics();
_airspeedSub = orb_subscribe(ORB_ID(airspeed));
_vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
void VtolLandDetector::_update_topics()
@@ -69,10 +71,27 @@ void VtolLandDetector::_update_topics()
MulticopterLandDetector::_update_topics();
_orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
_orb_update(ORB_ID(vehicle_status), _vehicle_status_sub, &_vehicle_status);
}
bool VtolLandDetector::_get_maybe_landed_state()
{
// Only trigger in RW mode
if (!_vehicle_status.is_rotary_wing) {
return false;
}
return MulticopterLandDetector::_get_maybe_landed_state();
}
bool VtolLandDetector::_get_landed_state()
{
// Only trigger in RW mode
if (!_vehicle_status.is_rotary_wing) {
return false;
}
// this is returned from the mutlicopter land detector
bool landed = MulticopterLandDetector::_get_landed_state();