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Remove relaying of maximum altitude through land detector

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This commit is contained in:
Matthias Grob
2022-01-05 14:54:59 +01:00
parent 2445fa8b4c
commit bbb04ab4b8
11 changed files with 15 additions and 40 deletions
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src/modules/land_detector/LandDetector.cpp
+1 -4
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@@ -122,7 +122,6 @@ void LandDetector::Run()
const bool ground_contactDetected = _ground_contact_hysteresis.get_state();
const bool maybe_landedDetected = _maybe_landed_hysteresis.get_state();
const bool landDetected = _landed_hysteresis.get_state();
const float alt_max = _get_max_altitude() > 0.0f ? _get_max_altitude() : (float)INFINITY;
const bool in_ground_effect = _ground_effect_hysteresis.get_state();
// publish at 1 Hz, very first time, or when the result has changed
@@ -131,8 +130,7 @@ void LandDetector::Run()
(_land_detected.freefall != freefallDetected) ||
(_land_detected.maybe_landed != maybe_landedDetected) ||
(_land_detected.ground_contact != ground_contactDetected) ||
(_land_detected.in_ground_effect != in_ground_effect) ||
(fabsf(_land_detected.alt_max - alt_max) > FLT_EPSILON)) {
(_land_detected.in_ground_effect != in_ground_effect)) {
if (!landDetected && _land_detected.landed && _takeoff_time == 0) { /* only set take off time once, until disarming */
// We did take off
@@ -143,7 +141,6 @@ void LandDetector::Run()
_land_detected.freefall = freefallDetected;
_land_detected.maybe_landed = maybe_landedDetected;
_land_detected.ground_contact = ground_contactDetected;
_land_detected.alt_max = alt_max;
_land_detected.in_ground_effect = in_ground_effect;
_land_detected.in_descend = _get_in_descend();
_land_detected.has_low_throttle = _get_has_low_throttle();