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HTE: only run in air

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the _landed flag only is not enough to tell if the drone is still touching
the ground, so an additional check based on the altitude AGL is required.

to have this in_air detection correctly updated, the module needs to be
scheduled on the vehicle_local_position message as no setpoint is
produced in non-assisted modes.
This commit is contained in:
bresch
2020-12-18 12:05:22 +01:00
committed by Julian Kent
parent c05c213042
commit d532bc9555
2 changed files with 40 additions and 31 deletions
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
+2 -2
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@@ -95,12 +95,12 @@ private:
uORB::Publication<hover_thrust_estimate_s> _hover_thrust_ekf_pub{ORB_ID(hover_thrust_estimate)};
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_setpoint_sub{this, ORB_ID(vehicle_local_position_setpoint)};
uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};
hrt_abstime _timestamp_last{0};