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land_detector move to PX4 WQ hp_default

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This commit is contained in:
Daniel Agar
2019-06-04 18:10:21 -04:00
parent 53aa4130a8
commit 777b615cf9
2 changed files with 14 additions and 28 deletions
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src/modules/land_detector/LandDetector.cpp
+7 -18
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@@ -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();
}
}