fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 06:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

hysteresis: remove dependency/side effect on time

Browse Source
This commit is contained in:
Julian Oes
2019-05-27 09:57:50 +02:00
parent 7b9562e3b1
commit b29e5e3adb
8 changed files with 92 additions and 87 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/LandDetector.cpp
+6 -5
View File
@@ -207,11 +207,12 @@ void LandDetector::_update_state()
{
/* when we are landed we also have ground contact for sure but only one output state can be true at a particular time
* with higher priority for landed */
_freefall_hysteresis.set_state_and_update(_get_freefall_state());
_landed_hysteresis.set_state_and_update(_get_landed_state());
_maybe_landed_hysteresis.set_state_and_update(_get_maybe_landed_state());
_ground_contact_hysteresis.set_state_and_update(_get_ground_contact_state());
_ground_effect_hysteresis.set_state_and_update(_get_ground_effect_state());
const hrt_abstime now_us = hrt_absolute_time();
_freefall_hysteresis.set_state_and_update(_get_freefall_state(), now_us);
_landed_hysteresis.set_state_and_update(_get_landed_state(), now_us);
_maybe_landed_hysteresis.set_state_and_update(_get_maybe_landed_state(), now_us);
_ground_contact_hysteresis.set_state_and_update(_get_ground_contact_state(), now_us);
_ground_effect_hysteresis.set_state_and_update(_get_ground_effect_state(), now_us);
if (_freefall_hysteresis.get_state()) {
_state = LandDetectionState::FREEFALL;