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Rename _accel_horz_lp -> _xy_accel_filtered to standardize naming, use time literal, and delete unneeded #includes in the FixedwingLandDetector class.

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mcsauder
2019-08-14 23:10:20 -04:00
committed by Daniel Agar
parent 0414d59ee9
commit d4fedca1ee
2 changed files with 6 additions and 11 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+5 -9
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@@ -39,14 +39,10 @@
* @author Julian Oes <julian@oes.ch> * @author Julian Oes <julian@oes.ch>
*/ */
#include "FixedwingLandDetector.h"
#include <cmath>
#include <px4_config.h>
#include <px4_defines.h>
#include <matrix/math.hpp> #include <matrix/math.hpp>
#include "FixedwingLandDetector.h"
namespace land_detector namespace land_detector
{ {
@@ -90,7 +86,7 @@ bool FixedwingLandDetector::_get_landed_state()
bool landDetected = false; bool landDetected = false;
if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500 * 1000) { if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500_ms) {
// Horizontal velocity complimentary filter. // Horizontal velocity complimentary filter.
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx + float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
@@ -114,10 +110,10 @@ bool FixedwingLandDetector::_get_landed_state()
const matrix::Vector3f accel{_vehicle_acceleration.xyz}; const matrix::Vector3f accel{_vehicle_acceleration.xyz};
const float acc_hor = sqrtf(accel(0) * accel(0) + accel(1) * accel(1)); const float acc_hor = sqrtf(accel(0) * accel(0) + accel(1) * accel(1));
_accel_horz_lp = _accel_horz_lp * 0.8f + acc_hor * 0.18f; _xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f;
// crude land detector for fixedwing // crude land detector for fixedwing
landDetected = _accel_horz_lp < _param_lndfw_xyaccel_max.get() landDetected = _xy_accel_filtered < _param_lndfw_xyaccel_max.get()
&& _airspeed_filtered < _param_lndfw_airspd.get() && _airspeed_filtered < _param_lndfw_airspd.get()
&& _velocity_xy_filtered < _param_lndfw_vel_xy_max.get() && _velocity_xy_filtered < _param_lndfw_vel_xy_max.get()
&& _velocity_z_filtered < _param_lndfw_vel_z_max.get(); && _velocity_z_filtered < _param_lndfw_vel_z_max.get();
src/modules/land_detector/FixedwingLandDetector.h
+1 -2
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@@ -42,7 +42,6 @@
#pragma once #pragma once
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp> #include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h> #include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_acceleration.h> #include <uORB/topics/vehicle_acceleration.h>
@@ -82,10 +81,10 @@ private:
vehicle_acceleration_s _vehicle_acceleration{}; vehicle_acceleration_s _vehicle_acceleration{};
vehicle_local_position_s _vehicle_local_position{}; vehicle_local_position_s _vehicle_local_position{};
float _accel_horz_lp{0.0f};
float _airspeed_filtered{0.0f}; float _airspeed_filtered{0.0f};
float _velocity_xy_filtered{0.0f}; float _velocity_xy_filtered{0.0f};
float _velocity_z_filtered{0.0f}; float _velocity_z_filtered{0.0f};
float _xy_accel_filtered{0.0f};
DEFINE_PARAMETERS_CUSTOM_PARENT( DEFINE_PARAMETERS_CUSTOM_PARENT(
LandDetector, LandDetector,