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Make land detector more robust during initial spool-up

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Lorenz Meier
2015-07-19 18:30:52 +02:00
parent 3ccc6823a2
commit 9f322a395e
6 changed files with 65 additions and 29 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+14 -1
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@@ -49,7 +49,11 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(),
_vehicleLocalPositionSub(-1),
_vehicleLocalPosition({}),
_airspeedSub(-1),
_airspeed({}),
_vehicleStatusSub(-1),
_armingSub(-1),
_airspeed{},
_vehicleStatus{},
_arming{},
_parameterSub(-1),
_velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f),
@@ -66,6 +70,8 @@ void FixedwingLandDetector::initialize()
// Subscribe to local position and airspeed data
_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
_airspeedSub = orb_subscribe(ORB_ID(airspeed));
_vehicleStatusSub = orb_subscribe(ORB_ID(vehicle_status));
_armingSub = orb_subscribe(ORB_ID(actuator_armed));
updateParameterCache(true);
}
@@ -74,6 +80,8 @@ void FixedwingLandDetector::updateSubscriptions()
{
orb_update(ORB_ID(vehicle_local_position), _vehicleLocalPositionSub, &_vehicleLocalPosition);
orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
orb_update(ORB_ID(vehicle_status), _vehicleStatusSub, &_vehicleStatus);
orb_update(ORB_ID(actuator_armed), _armingSub, &_arming);
}
bool FixedwingLandDetector::update()
@@ -81,6 +89,11 @@ bool FixedwingLandDetector::update()
// First poll for new data from our subscriptions
updateSubscriptions();
// only trigger flight conditions if we are armed
if (!_arming.armed) {
return true;
}
const uint64_t now = hrt_absolute_time();
bool landDetected = false;