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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.h
+11 -5
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@@ -44,7 +44,9 @@
#include "LandDetector.h"
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_status.h>
#include <systemlib/param/param.h>
class FixedwingLandDetector : public LandDetector
@@ -90,11 +92,15 @@ private:
} _params;
private:
int _vehicleLocalPositionSub; /**< notification of local position */
struct vehicle_local_position_s _vehicleLocalPosition; /**< the result from local position subscription */
int _airspeedSub;
struct airspeed_s _airspeed;
int _parameterSub;
int _vehicleLocalPositionSub; /**< notification of local position */
struct vehicle_local_position_s _vehicleLocalPosition; /**< the result from local position subscription */
int _airspeedSub;
int _vehicleStatusSub;
int _armingSub;
struct airspeed_s _airspeed;
struct vehicle_status_s _vehicleStatus;
struct actuator_armed_s _arming;
int _parameterSub;
float _velocity_xy_filtered;
float _velocity_z_filtered;