land_detector move to PX4 WQ hp_default

src/modules/land_detector/LandDetector.cpp

@@ -54,6 +54,7 @@ namespace land_detector
 {
 
 LandDetector::LandDetector() :
+	ScheduledWorkItem(px4::wq_configurations::hp_default),
 	_cycle_perf(perf_alloc(PC_ELAPSED, "land_detector_cycle"))
 {
 }
@@ -65,19 +66,12 @@ LandDetector::~LandDetector()
 
 int LandDetector::start()
 {
-	/* schedule a cycle to start things */
-	return work_queue(HPWORK, &_work, (worker_t)&LandDetector::_cycle_trampoline, this, 0);
+	ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL, 10000);
+
+	return PX4_OK;
 }
 
-void
-LandDetector::_cycle_trampoline(void *arg)
-{
-	LandDetector *dev = reinterpret_cast<LandDetector *>(arg);
-
-	dev->_cycle();
-}
-
-void LandDetector::_cycle()
+void LandDetector::Run()
 {
 	perf_begin(_cycle_perf);
 
@@ -155,13 +149,8 @@ void LandDetector::_cycle()
 
 	perf_end(_cycle_perf);
 
-	if (!should_exit()) {
-
-		// Schedule next cycle.
-		work_queue(HPWORK, &_work, (worker_t)&LandDetector::_cycle_trampoline, this,
-			   USEC2TICK(1_s / LAND_DETECTOR_UPDATE_RATE_HZ));
-
-	} else {
+	if (should_exit()) {
+		ScheduleClear();
 		exit_and_cleanup();
 	}
 }

src/modules/land_detector/LandDetector.h

@@ -42,7 +42,6 @@
 
 #pragma once
 
-#include <px4_workqueue.h>
 #include <px4_module.h>
 #include <lib/hysteresis/hysteresis.h>
 #include <parameters/param.h>
@@ -51,12 +50,14 @@
 #include <uORB/topics/actuator_armed.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/vehicle_land_detected.h>
+#include <px4_work_queue/ScheduledWorkItem.hpp>
+
+using namespace time_literals;
 
 namespace land_detector
 {
 
-
-class LandDetector : public ModuleBase<LandDetector>
+class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
 {
 public:
 	enum class LandDetectionState {
@@ -139,8 +140,8 @@ protected:
 	 */
 	virtual bool _get_ground_effect_state() { return false; }
 
-	/** Run main land detector loop at this rate in Hz. */
-	static constexpr uint32_t LAND_DETECTOR_UPDATE_RATE_HZ = 50;
+	/** Run main land detector loop at this interval. */
+	static constexpr uint32_t LAND_DETECTOR_UPDATE_INTERVAL = 20_ms;
 
 	orb_advert_t _landDetectedPub{nullptr};
 	vehicle_land_detected_s _landDetected{};
@@ -156,9 +157,7 @@ protected:
 	struct actuator_armed_s	_arming {};
 
 private:
-	static void _cycle_trampoline(void *arg);
-
-	void _cycle();
+	void Run() override;
 
 	void _check_params(bool force = false);
 
@@ -169,8 +168,6 @@ private:
 	uint64_t _total_flight_time{0}; ///< in microseconds
 	hrt_abstime _takeoff_time{0};
 
-	struct work_s	_work {};
-
 	perf_counter_t	_cycle_perf;
 
 	bool _previous_arming_state{false}; ///< stores the previous _arming.armed state