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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/MulticopterLandDetector.h
+7 -7
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@@ -97,20 +97,20 @@ private:
} _params;
private:
int _vehicleGlobalPositionSub; /**< notification of global position */
int _vehicleGlobalPositionSub; /**< notification of global position */
int _vehicleStatusSub;
int _actuatorsSub;
int _armingSub;
int _parameterSub;
int _attitudeSub;
struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */
struct vehicle_status_s _vehicleStatus;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */
struct vehicle_status_s _vehicleStatus;
struct actuator_controls_s _actuators;
struct actuator_armed_s _arming;
struct vehicle_attitude_s _vehicleAttitude;
uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/
};
#endif //__MULTICOPTER_LAND_DETECTOR_H__