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land_detector: battery level status to adjust maximum altitude possible

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This commit is contained in:
Dennis Mannhart
2017-02-27 22:54:19 +01:00
committed by Lorenz Meier
parent c8690fd072
commit a1982e0392
8 changed files with 84 additions and 2 deletions
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src/modules/land_detector/LandDetector.cpp
+13 -2
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@@ -41,6 +41,7 @@
#include <px4_config.h>
#include <px4_defines.h>
#include <drivers/drv_hrt.h>
#include <float.h>
#include "LandDetector.h"
@@ -123,6 +124,9 @@ void LandDetector::_cycle()
_update_state();
float alt_max_prev = _altitude_max;
_update_max_altitude();
bool freefallDetected = (_state == LandDetectionState::FREEFALL);
bool landDetected = (_state == LandDetectionState::LANDED);
bool ground_contactDetected = (_state == LandDetectionState::GROUND_CONTACT);
@@ -132,7 +136,8 @@ void LandDetector::_cycle()
if ((_landDetectedPub == nullptr) ||
(_landDetected.freefall != freefallDetected) ||
(_landDetected.landed != landDetected) ||
(_landDetected.ground_contact != ground_contactDetected)) {
(_landDetected.ground_contact != ground_contactDetected) ||
(fabsf(_landDetected.alt_max - alt_max_prev) > FLT_EPSILON)) {
if (!landDetected && _landDetected.landed) {
// We did take off
@@ -152,6 +157,7 @@ void LandDetector::_cycle()
_landDetected.freefall = (_state == LandDetectionState::FREEFALL);
_landDetected.landed = (_state == LandDetectionState::LANDED);
_landDetected.ground_contact = (_state == LandDetectionState::GROUND_CONTACT);
_landDetected.alt_max = _altitude_max;
int instance;
orb_publish_auto(ORB_ID(vehicle_land_detected), &_landDetectedPub, &_landDetected,
@@ -168,7 +174,6 @@ void LandDetector::_cycle()
_taskIsRunning = false;
}
}
void LandDetector::_check_params(const bool force)
{
bool updated;
@@ -216,6 +221,12 @@ void LandDetector::_update_state()
}
}
void LandDetector::_update_max_altitude()
{
_altitude_max = _get_max_altitude();
}
bool LandDetector::_orb_update(const struct orb_metadata *meta, int handle, void *buffer)
{
bool newData = false;