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Commander: rename land detection subscription for consistency

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This commit is contained in:
Matthias Grob
2022-03-23 10:49:38 +01:00
parent 4a5a8d59fe
commit b85c4ec475
2 changed files with 18 additions and 18 deletions
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src/modules/commander/Commander.cpp
+16 -16
View File
@@ -748,7 +748,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool forced) transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason, bool forced)
{ {
if (!forced) { if (!forced) {
const bool landed = (_land_detector.landed || _land_detector.maybe_landed || is_ground_rover(_status)); const bool landed = (_vehicle_land_detected.landed || _vehicle_land_detected.maybe_landed || is_ground_rover(_status));
const bool mc_manual_thrust_mode = _status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING const bool mc_manual_thrust_mode = _status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _vehicle_control_mode.flag_control_manual_enabled && _vehicle_control_mode.flag_control_manual_enabled
&& !_vehicle_control_mode.flag_control_climb_rate_enabled; && !_vehicle_control_mode.flag_control_climb_rate_enabled;
@@ -791,7 +791,7 @@ Commander::Commander() :
ModuleParams(nullptr), ModuleParams(nullptr),
_failure_detector(this) _failure_detector(this)
{ {
_land_detector.landed = true; _vehicle_land_detected.landed = true;
// XXX for now just set sensors as initialized // XXX for now just set sensors as initialized
_status_flags.condition_system_sensors_initialized = true; _status_flags.condition_system_sensors_initialized = true;
@@ -1739,7 +1739,7 @@ void Commander::executeActionRequest(const action_request_s &action_request)
const char kill_switch_string[] = "Kill-switch engaged\t"; const char kill_switch_string[] = "Kill-switch engaged\t";
events::LogLevels log_levels{events::Log::Info}; events::LogLevels log_levels{events::Log::Info};
if (_land_detector.landed) { if (_vehicle_land_detected.landed) {
mavlink_log_info(&_mavlink_log_pub, kill_switch_string); mavlink_log_info(&_mavlink_log_pub, kill_switch_string);
} else { } else {
@@ -2148,18 +2148,18 @@ Commander::run()
} }
/* Update land detector */ /* Update land detector */
if (_land_detector_sub.updated()) { if (_vehicle_land_detected_sub.updated()) {
const bool was_landed = _land_detector.landed; const bool was_landed = _vehicle_land_detected.landed;
_land_detector_sub.copy(&_land_detector); _vehicle_land_detected_sub.copy(&_vehicle_land_detected);
// Only take actions if armed // Only take actions if armed
if (_armed.armed) { if (_armed.armed) {
if (!was_landed && _land_detector.landed) { if (!was_landed && _vehicle_land_detected.landed) {
mavlink_log_info(&_mavlink_log_pub, "Landing detected\t"); mavlink_log_info(&_mavlink_log_pub, "Landing detected\t");
events::send(events::ID("commander_landing_detected"), events::Log::Info, "Landing detected"); events::send(events::ID("commander_landing_detected"), events::Log::Info, "Landing detected");
_status.takeoff_time = 0; _status.takeoff_time = 0;
} else if (was_landed && !_land_detector.landed) { } else if (was_landed && !_vehicle_land_detected.landed) {
mavlink_log_info(&_mavlink_log_pub, "Takeoff detected\t"); mavlink_log_info(&_mavlink_log_pub, "Takeoff detected\t");
events::send(events::ID("commander_takeoff_detected"), events::Log::Info, "Takeoff detected"); events::send(events::ID("commander_takeoff_detected"), events::Log::Info, "Takeoff detected");
_status.takeoff_time = hrt_absolute_time(); _status.takeoff_time = hrt_absolute_time();
@@ -2177,7 +2177,7 @@ Commander::run()
if (_param_com_home_en.get() && !_home_pub.get().manual_home) { if (_param_com_home_en.get() && !_home_pub.get().manual_home) {
// set the home position when taking off, but only if we were previously disarmed // set the home position when taking off, but only if we were previously disarmed
// and at least 500 ms from commander start spent to avoid setting home on in-air restart // and at least 500 ms from commander start spent to avoid setting home on in-air restart
if (_should_set_home_on_takeoff && !_land_detector.landed && if (_should_set_home_on_takeoff && !_vehicle_land_detected.landed &&
(hrt_elapsed_time(&_boot_timestamp) > INAIR_RESTART_HOLDOFF_INTERVAL)) { (hrt_elapsed_time(&_boot_timestamp) > INAIR_RESTART_HOLDOFF_INTERVAL)) {
if (was_landed) { if (was_landed) {
_should_set_home_on_takeoff = !set_home_position(); _should_set_home_on_takeoff = !set_home_position();
@@ -2305,7 +2305,7 @@ Commander::run()
if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming) { if (_param_com_disarm_land.get() > 0 && _have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s); _auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_land.get() * 1_s);
_auto_disarm_landed.set_state_and_update(_land_detector.landed, hrt_absolute_time()); _auto_disarm_landed.set_state_and_update(_vehicle_land_detected.landed, hrt_absolute_time());
} else if (_param_com_disarm_preflight.get() > 0 && !_have_taken_off_since_arming) { } else if (_param_com_disarm_preflight.get() > 0 && !_have_taken_off_since_arming) {
_auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s); _auto_disarm_landed.set_hysteresis_time_from(false, _param_com_disarm_preflight.get() * 1_s);
@@ -2417,7 +2417,7 @@ Commander::run()
} }
// Transition main state to loiter or auto-mission after takeoff is completed. // Transition main state to loiter or auto-mission after takeoff is completed.
if (_armed.armed && !_land_detector.landed if (_armed.armed && !_vehicle_land_detected.landed
&& (_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF || && (_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF ||
_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF) _status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF)
&& (mission_result.timestamp >= _status.nav_state_timestamp) && (mission_result.timestamp >= _status.nav_state_timestamp)
@@ -2809,7 +2809,7 @@ Commander::run()
} }
// Publish wind speed warning if enabled via parameter // Publish wind speed warning if enabled via parameter
if (_param_com_wind_warn.get() > FLT_EPSILON && !_land_detector.landed) { if (_param_com_wind_warn.get() > FLT_EPSILON && !_vehicle_land_detected.landed) {
checkWindAndWarn(); checkWindAndWarn();
} }
@@ -2822,7 +2822,7 @@ Commander::run()
if (!_armed.armed) { if (!_armed.armed) {
if (_home_pub.get().valid_lpos) { if (_home_pub.get().valid_lpos) {
if (_land_detector.landed && local_position.xy_valid && local_position.z_valid) { if (_vehicle_land_detected.landed && local_position.xy_valid && local_position.z_valid) {
/* distance from home */ /* distance from home */
float home_dist_xy = -1.0f; float home_dist_xy = -1.0f;
float home_dist_z = -1.0f; float home_dist_z = -1.0f;
@@ -2856,7 +2856,7 @@ Commander::run()
_status_changed = true; _status_changed = true;
if (_armed.armed) { if (_armed.armed) {
if (!_land_detector.landed) { // check if takeoff already detected upon arming if (!_vehicle_land_detected.landed) { // check if takeoff already detected upon arming
_have_taken_off_since_arming = true; _have_taken_off_since_arming = true;
} }
@@ -2886,7 +2886,7 @@ Commander::run()
_mission_result_sub.get().finished, _mission_result_sub.get().finished,
_mission_result_sub.get().stay_in_failsafe, _mission_result_sub.get().stay_in_failsafe,
_status_flags, _status_flags,
_land_detector.landed, _vehicle_land_detected.landed,
static_cast<link_loss_actions_t>(_param_nav_rcl_act.get()), static_cast<link_loss_actions_t>(_param_nav_rcl_act.get()),
static_cast<offboard_loss_actions_t>(_param_com_obl_act.get()), static_cast<offboard_loss_actions_t>(_param_com_obl_act.get()),
static_cast<offboard_loss_rc_actions_t>(_param_com_obl_rc_act.get()), static_cast<offboard_loss_rc_actions_t>(_param_com_obl_rc_act.get()),
@@ -3264,7 +3264,7 @@ Commander::check_posvel_validity(const bool data_valid, const float data_accurac
bool valid = was_valid; bool valid = was_valid;
// constrain probation times // constrain probation times
if (_land_detector.landed) { if (_vehicle_land_detected.landed) {
*probation_time_us = POSVEL_PROBATION_MIN; *probation_time_us = POSVEL_PROBATION_MIN;
} }
src/modules/commander/Commander.hpp
+2 -2
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@@ -392,7 +392,7 @@ private:
cpuload_s _cpuload{}; cpuload_s _cpuload{};
geofence_result_s _geofence_result{}; geofence_result_s _geofence_result{};
vehicle_land_detected_s _land_detector{}; vehicle_land_detected_s _vehicle_land_detected{};
safety_s _safety{}; safety_s _safety{};
vtol_vehicle_status_s _vtol_status{}; vtol_vehicle_status_s _vtol_status{};
@@ -417,7 +417,7 @@ private:
uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)}; uORB::Subscription _estimator_status_sub{ORB_ID(estimator_status)};
uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)}; uORB::Subscription _geofence_result_sub{ORB_ID(geofence_result)};
uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)}; uORB::Subscription _iridiumsbd_status_sub{ORB_ID(iridiumsbd_status)};
uORB::Subscription _land_detector_sub{ORB_ID(vehicle_land_detected)}; uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)}; uORB::Subscription _manual_control_setpoint_sub{ORB_ID(manual_control_setpoint)};
uORB::Subscription _rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)}; uORB::Subscription _rtl_time_estimate_sub{ORB_ID(rtl_time_estimate)};
uORB::Subscription _safety_sub{ORB_ID(safety)}; uORB::Subscription _safety_sub{ORB_ID(safety)};