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Standardize class member variable naming convention in the LandDetector class.

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mcsauder 2019-06-26 09:58:14 -06:00 committed by Daniel Agar
parent 6b6d82447e
commit df662245a2
2 changed files with 22 additions and 22 deletions
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42
src/modules/land_detector/LandDetector.cpp
View File

@ -57,11 +57,11 @@ LandDetector::LandDetector() :
ModuleParams(nullptr),
ScheduledWorkItem(px4::wq_configurations::hp_default)
{
_landDetected.timestamp = hrt_absolute_time();
_landDetected.freefall = false;
_landDetected.landed = true;
_landDetected.ground_contact = false;
_landDetected.maybe_landed = false;
_land_detected.timestamp = hrt_absolute_time();
_land_detected.freefall = false;
_land_detected.landed = true;
_land_detected.ground_contact = false;
_land_detected.maybe_landed = false;
}
LandDetector::~LandDetector()
@ -95,30 +95,30 @@ void LandDetector::Run()
const hrt_abstime now = hrt_absolute_time();
// publish at 1 Hz, very first time, or when the result has changed
if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1_s) ||
if ((hrt_elapsed_time(&_land_detected.timestamp) >= 1_s) ||
(_land_detected_pub == nullptr) ||
(_landDetected.landed != landDetected) ||
(_landDetected.freefall != freefallDetected) ||
(_landDetected.maybe_landed != maybe_landedDetected) ||
(_landDetected.ground_contact != ground_contactDetected) ||
(_landDetected.in_ground_effect != in_ground_effect) ||
(fabsf(_landDetected.alt_max - alt_max) > FLT_EPSILON)) {
(_land_detected.landed != landDetected) ||
(_land_detected.freefall != freefallDetected) ||
(_land_detected.maybe_landed != maybe_landedDetected) ||
(_land_detected.ground_contact != ground_contactDetected) ||
(_land_detected.in_ground_effect != in_ground_effect) ||
(fabsf(_land_detected.alt_max - alt_max) > FLT_EPSILON)) {
if (!landDetected && _landDetected.landed) {
if (!landDetected && _land_detected.landed) {
// We did take off
_takeoff_time = now;
}
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = landDetected;
_landDetected.freefall = freefallDetected;
_landDetected.maybe_landed = maybe_landedDetected;
_landDetected.ground_contact = ground_contactDetected;
_landDetected.alt_max = alt_max;
_landDetected.in_ground_effect = in_ground_effect;
_land_detected.timestamp = hrt_absolute_time();
_land_detected.landed = landDetected;
_land_detected.freefall = freefallDetected;
_land_detected.maybe_landed = maybe_landedDetected;
_land_detected.ground_contact = ground_contactDetected;
_land_detected.alt_max = alt_max;
_land_detected.in_ground_effect = in_ground_effect;
int instance;
orb_publish_auto(ORB_ID(vehicle_land_detected), &_land_detected_pub, &_landDetected,
orb_publish_auto(ORB_ID(vehicle_land_detected), &_land_detected_pub, &_land_detected,
&instance, ORB_PRIO_DEFAULT);
}

2
src/modules/land_detector/LandDetector.h
View File

@ -143,7 +143,7 @@ protected:
static constexpr uint32_t LAND_DETECTOR_UPDATE_INTERVAL = 20_ms;
orb_advert_t _land_detected_pub{nullptr};
vehicle_land_detected_s _landDetected{};
vehicle_land_detected_s _land_detected{};
LandDetectionState _state{LandDetectionState::LANDED};