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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/LandDetector.h
+4 -3
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@@ -96,10 +96,11 @@ protected:
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME = 2000000; /**< usec that landing conditions have to hold
before triggering a land */
static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME = 1000000; /**< time interval in which wider acceptance thresholds are used after arming */
protected:
orb_advert_t _landDetectedPub; /**< publisher for position in local frame */
struct vehicle_land_detected_s _landDetected; /**< local vehicle position */
orb_advert_t _landDetectedPub; /**< publisher for position in local frame */
struct vehicle_land_detected_s _landDetected; /**< local vehicle position */
uint64_t _arming_time; /**< timestamp of arming time */
private:
bool _taskShouldExit; /**< true if it is requested that this task should exit */