fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

land detector VTOL inherit MC maybe_landed (#7738)

Browse Source 
* maybe_landed state for VTOL inherited from MC
* set correct land detector for SITL
This commit is contained in:
Sander Smeets 2017-08-06 16:02:56 +02:00 committed by Daniel Agar
parent 102003c664
commit c81dd46b02
5 changed files with 7 additions and 32 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
posix-configs/SITL/init/ekf2/standard_vtol
View File

@ -70,7 +70,7 @@ measairspeedsim start
pwm_out_sim mode_pwm
sensors start
commander start
land_detector start multicopter
land_detector start vtol
navigator start
ekf2 start
vtol_att_control start

2
posix-configs/SITL/init/ekf2/tailsitter
View File

@ -51,7 +51,7 @@ measairspeedsim start
pwm_out_sim mode_pwm
sensors start
commander start
land_detector start multicopter
land_detector start vtol
navigator start
ekf2 start
vtol_att_control start

2
posix-configs/SITL/init/lpe/standard_vtol
View File

@ -65,7 +65,7 @@ measairspeedsim start
pwm_out_sim mode_pwm
sensors start
commander start
land_detector start multicopter
land_detector start vtol
navigator start
attitude_estimator_q start
local_position_estimator start

17
src/modules/land_detector/VtolLandDetector.cpp
View File

@ -71,18 +71,6 @@ void VtolLandDetector::_update_topics()
_orb_update(ORB_ID(airspeed), _airspeedSub, &_airspeed);
}
bool VtolLandDetector::_get_ground_contact_state()
{
return MulticopterLandDetector::_get_ground_contact_state();
}
bool VtolLandDetector::_get_maybe_landed_state()
{
// TODO
return false;
}
bool VtolLandDetector::_get_landed_state()
{
// this is returned from the mutlicopter land detector
@ -108,11 +96,6 @@ bool VtolLandDetector::_get_landed_state()
return landed;
}
bool VtolLandDetector::_get_freefall_state()
{
return MulticopterLandDetector::_get_freefall_state();
}
void VtolLandDetector::_update_params()
{
MulticopterLandDetector::_update_params();

16
src/modules/land_detector/VtolLandDetector.h
View File

@ -54,19 +54,11 @@ public:
VtolLandDetector();
protected:
virtual void _initialize_topics() override;
void _initialize_topics() override;
void _update_params() override;
void _update_topics() override;
bool _get_landed_state() override;
virtual void _update_params() override;
virtual void _update_topics() override;
virtual bool _get_landed_state() override;
virtual bool _get_maybe_landed_state() override;
virtual bool _get_ground_contact_state() override;
virtual bool _get_freefall_state() override;
private:
struct {