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land_detector: do not publish if landing or freefall state has not changed

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Signed-off-by: tumbili <roman@px4.io> and bkueng <beat-kueng@gmx.net>
This commit is contained in:
tumbili 2016-06-23 15:54:24 +02:00
parent 7dea8d4a24
commit 8026273cb0
1 changed files with 8 additions and 10 deletions
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18
src/modules/land_detector/LandDetector.cpp
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@ -103,17 +103,15 @@ void LandDetector::cycle()
}
LandDetectionResult current_state = update();
bool landDetected = (current_state == LANDDETECTION_RES_LANDED);
bool freefallDetected = (current_state == LANDDETECTION_RES_FREEFALL);
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = (current_state == LANDDETECTION_RES_LANDED);
_landDetected.freefall = (current_state == LANDDETECTION_RES_FREEFALL);
// publish the land detected broadcast
if (_landDetectedPub == nullptr) {
_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
} else {
orb_publish(ORB_ID(vehicle_land_detected), (orb_advert_t)_landDetectedPub, &_landDetected);
if (_landDetectedPub == nullptr || _landDetected.landed != landDetected || _landDetected.freefall != freefallDetected) {
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = (current_state == LANDDETECTION_RES_LANDED);
_landDetected.freefall = (current_state == LANDDETECTION_RES_FREEFALL);
int instance;
orb_publish_auto(ORB_ID(vehicle_land_detected), &_landDetectedPub, &_landDetected, &instance, ORB_PRIO_DEFAULT);
}
if (!_taskShouldExit) {