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land detector: move arming state into base class & set param when disarming

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Before that, different modules (ekf2, commander & land detector) changed
params upon different events:
- ekf2 & commander set params after disarm
- land detector set params on land detected
If the 2 events were several 100ms appart, it led to 2 param saves, and
the latter param set could have been blocked by an ongoing save. And if
the land detector was blocked, it could lead to mag timeouts.

This patch makes all modules use the same event, thus only a single param
save will happen.

If we want to have guarantees to never block, we should introduce a
param_try_set() API method.
This commit is contained in:
Beat Küng
2017-12-07 11:55:51 +00:00
committed by Lorenz Meier
parent 1dbeec6a19
commit a0afc370d0
6 changed files with 24 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/MulticopterLandDetector.cpp
+1 -5
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@@ -77,7 +77,6 @@ MulticopterLandDetector::MulticopterLandDetector() :
_vehicleLocalPositionSub(-1),
_vehicleLocalPositionSetpointSub(-1),
_actuatorsSub(-1),
_armingSub(-1),
_attitudeSub(-1),
_sensor_bias_sub(-1),
_vehicle_control_mode_sub(-1),
@@ -85,7 +84,6 @@ MulticopterLandDetector::MulticopterLandDetector() :
_vehicleLocalPosition{},
_vehicleLocalPositionSetpoint{},
_actuators{},
_arming{},
_vehicleAttitude{},
_sensors{},
_control_mode{},
@@ -113,12 +111,11 @@ MulticopterLandDetector::MulticopterLandDetector() :
void MulticopterLandDetector::_initialize_topics()
{
// subscribe to position, attitude, arming and velocity changes
// subscribe to position, attitude and velocity changes
_vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position));
_vehicleLocalPositionSetpointSub = orb_subscribe(ORB_ID(vehicle_local_position_setpoint));
_attitudeSub = orb_subscribe(ORB_ID(vehicle_attitude));
_actuatorsSub = orb_subscribe(ORB_ID(actuator_controls_0));
_armingSub = orb_subscribe(ORB_ID(actuator_armed));
_parameterSub = orb_subscribe(ORB_ID(parameter_update));
_sensor_bias_sub = orb_subscribe(ORB_ID(sensor_bias));
_vehicle_control_mode_sub = orb_subscribe(ORB_ID(vehicle_control_mode));
@@ -131,7 +128,6 @@ void MulticopterLandDetector::_update_topics()
_orb_update(ORB_ID(vehicle_local_position_setpoint), _vehicleLocalPositionSetpointSub, &_vehicleLocalPositionSetpoint);
_orb_update(ORB_ID(vehicle_attitude), _attitudeSub, &_vehicleAttitude);
_orb_update(ORB_ID(actuator_controls_0), _actuatorsSub, &_actuators);
_orb_update(ORB_ID(actuator_armed), _armingSub, &_arming);
_orb_update(ORB_ID(sensor_bias), _sensor_bias_sub, &_sensors);
_orb_update(ORB_ID(vehicle_control_mode), _vehicle_control_mode_sub, &_control_mode);
_orb_update(ORB_ID(battery_status), _battery_sub, &_battery);