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commander: refactor COM_DISARM_LAND to param wrapper

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after review comment request from @dagar. Thanks!
This commit is contained in:
Matthias Grob
2018-08-22 10:04:21 +02:00
committed by Beat Küng
parent 0c6bffb66a
commit c87e124f13
2 changed files with 4 additions and 15 deletions
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src/modules/commander/Commander.cpp
+2 -14
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@@ -1138,7 +1138,6 @@ Commander::run()
param_t _param_rc_arm_hyst = param_find("COM_RC_ARM_HYST");
param_t _param_min_stick_change = param_find("COM_RC_STICK_OV");
param_t _param_geofence_action = param_find("GF_ACTION");
param_t _param_disarm_land = param_find("COM_DISARM_LAND");
param_t _param_offboard_loss_timeout = param_find("COM_OF_LOSS_T");
param_t _param_arm_without_gps = param_find("COM_ARM_WO_GPS");
param_t _param_arm_switch_is_button = param_find("COM_ARM_SWISBTN");
@@ -1383,8 +1382,6 @@ Commander::run()
float ef_time_thres = 1000.0f;
uint64_t timestamp_engine_healthy = 0; /**< absolute time when engine was healty */
float disarm_when_landed_timeout = 0.f;
/* check which state machines for changes, clear "changed" flag */
bool main_state_changed = false;
bool failsafe_old = false;
@@ -1481,17 +1478,8 @@ Commander::run()
param_get(_param_ef_current2throttle_thres, &ef_current2throttle_thres);
param_get(_param_ef_time_thres, &ef_time_thres);
param_get(_param_geofence_action, &geofence_action);
param_get(_param_disarm_land, &disarm_when_landed_timeout);
param_get(_param_flight_uuid, &flight_uuid);
// If we update parameters the first time
// make sure the hysteresis time gets set.
// After that it will be set in the main state
// machine based on the arming state.
if (param_init_forced) {
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed_timeout * 1_s);
}
param_get(_param_offboard_loss_timeout, &offboard_loss_timeout);
param_get(_param_offboard_loss_act, &offboard_loss_act);
param_get(_param_offboard_loss_rc_act, &offboard_loss_rc_act);
@@ -1724,11 +1712,11 @@ Commander::run()
// pilot has ten seconds time to take off
auto_disarm_hysteresis.set_hysteresis_time_from(false, 10_s);
} else {
auto_disarm_hysteresis.set_hysteresis_time_from(false, disarm_when_landed_timeout * 1_s);
auto_disarm_hysteresis.set_hysteresis_time_from(false, _disarm_when_landed_timeout.get() * 1_s);
}
// Check for auto-disarm
if (armed.armed && land_detector.landed && disarm_when_landed_timeout > FLT_EPSILON) {
if (armed.armed && land_detector.landed && _disarm_when_landed_timeout.get() > FLT_EPSILON) {
auto_disarm_hysteresis.set_state_and_update(true);
} else {