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position_estimator_inav: "landed" detector implemented, bugfixes

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Anton Babushkin
2013-08-20 12:17:15 +02:00
parent de124619b6
commit db950f7489
6 changed files with 118 additions and 46 deletions
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src/modules/commander/commander.cpp
+11
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@@ -820,6 +820,17 @@ int commander_thread_main(int argc, char *argv[])
/* update condition_local_position_valid and condition_local_altitude_valid */
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
if (status.condition_local_altitude_valid) {
if (status.condition_landed != local_position.landed) {
status.condition_landed = local_position.landed;
status_changed = true;
if (status.condition_landed) {
mavlink_log_info(mavlink_fd, "[cmd] LANDED");
} else {
mavlink_log_info(mavlink_fd, "[cmd] IN AIR");
}
}
}
/* update battery status */
orb_check(battery_sub, &updated);