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Implement ModuleParams inheritance in the VtolLandDetector class. Requires PR #12356.

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This commit is contained in:
mcsauder
2019-08-14 11:58:14 -04:00
committed by Daniel Agar
parent 9e3493bd6e
commit 9e055e9b21
3 changed files with 7 additions and 19 deletions
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src/modules/land_detector/VtolLandDetector.cpp
+1 -10
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@@ -48,13 +48,11 @@ namespace land_detector
VtolLandDetector::VtolLandDetector()
{
_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
}
void VtolLandDetector::_update_topics()
{
MulticopterLandDetector::_update_topics();
_airspeed_sub.update(&_airspeed);
_vehicle_status_sub.update(&_vehicle_status);
}
@@ -92,7 +90,7 @@ bool VtolLandDetector::_get_landed_state()
// only consider airspeed if we have been in air before to avoid false
// detections in the case of wind on the ground
if (_was_in_air && (_airspeed_filtered > _params.maxAirSpeed)) {
if (_was_in_air && (_airspeed_filtered > _param_lndfw_airspd_max.get())) {
landed = false;
}
@@ -101,11 +99,4 @@ bool VtolLandDetector::_get_landed_state()
return landed;
}
void VtolLandDetector::_update_params()
{
MulticopterLandDetector::_update_params();
param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
}
} // namespace land_detector