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VTOL Land Detector: move to airspeed_validated

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-02-14 17:46:30 +03:00
committed by Roman Bapst
parent 9a96ca14be
commit dad9c154a3
2 changed files with 6 additions and 7 deletions
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src/modules/land_detector/VtolLandDetector.cpp
+3 -4
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@@ -49,7 +49,7 @@ namespace land_detector
void VtolLandDetector::_update_topics() void VtolLandDetector::_update_topics()
{ {
MulticopterLandDetector::_update_topics(); MulticopterLandDetector::_update_topics();
_airspeed_sub.update(&_airspeed); _airspeed_validated_sub.update(&_airspeed_validated);
_vehicle_status_sub.update(&_vehicle_status); _vehicle_status_sub.update(&_vehicle_status);
} }
@@ -74,10 +74,9 @@ bool VtolLandDetector::_get_landed_state()
bool landed = MulticopterLandDetector::_get_landed_state(); bool landed = MulticopterLandDetector::_get_landed_state();
// for vtol we additionally consider airspeed // for vtol we additionally consider airspeed
if (hrt_elapsed_time(&_airspeed.timestamp) < 1_s && _airspeed.confidence > 0.99f if (hrt_elapsed_time(&_airspeed_validated.timestamp) < 1_s && PX4_ISFINITE(_airspeed_validated.true_airspeed_m_s)) {
&& PX4_ISFINITE(_airspeed.indicated_airspeed_m_s)) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.indicated_airspeed_m_s; _airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed_validated.true_airspeed_m_s;
} else { } else {
// if airspeed does not update, set it to zero and rely on multicopter land detector // if airspeed does not update, set it to zero and rely on multicopter land detector
src/modules/land_detector/VtolLandDetector.h
+3 -3
View File
@@ -41,7 +41,7 @@
#pragma once #pragma once
#include <uORB/topics/airspeed.h> #include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/vehicle_status.h> #include <uORB/topics/vehicle_status.h>
#include "MulticopterLandDetector.h" #include "MulticopterLandDetector.h"
@@ -62,10 +62,10 @@ protected:
private: private:
uORB::Subscription _airspeed_sub{ORB_ID(airspeed)}; uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)}; uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
airspeed_s _airspeed{}; airspeed_validated_s _airspeed_validated{};
vehicle_status_s _vehicle_status{}; vehicle_status_s _vehicle_status{};
bool _was_in_air{false}; /**< indicates whether the vehicle was in the air in the previous iteration */ bool _was_in_air{false}; /**< indicates whether the vehicle was in the air in the previous iteration */