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LandDetector: save & initialize total flight time

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This commit is contained in:
Beat Küng
2017-03-08 04:19:22 +08:00
committed by Lorenz Meier
parent bac10bcfb8
commit c715228b8f
1 changed files with 3 additions and 0 deletions
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src/modules/land_detector/LandDetector.cpp
+3
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@@ -60,6 +60,8 @@ LandDetector::LandDetector() :
_ground_contact_hysteresis(true), _ground_contact_hysteresis(true),
_taskShouldExit(false), _taskShouldExit(false),
_taskIsRunning(false), _taskIsRunning(false),
_total_flight_time{0},
_takeoff_time{0},
_work{} _work{}
{ {
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true). // Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
@@ -150,6 +152,7 @@ void LandDetector::_cycle()
param_set_no_notification(_p_total_flight_time_high, &flight_time); param_set_no_notification(_p_total_flight_time_high, &flight_time);
flight_time = _total_flight_time & 0xffffffff; flight_time = _total_flight_time & 0xffffffff;
param_set_no_notification(_p_total_flight_time_low, &flight_time); param_set_no_notification(_p_total_flight_time_low, &flight_time);
param_save_default();
} }
_landDetected.timestamp = hrt_absolute_time(); _landDetected.timestamp = hrt_absolute_time();