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fix multicopter land detector: do not update parameters every cycle (#13212)

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And add updateParams() call in LandDetector::_update_params().
This commit is contained in:
Mark Sauder
2019-10-18 09:25:41 +02:00
committed by Beat Küng
parent cefa7ec5dc
commit e9c9fb8239
4 changed files with 20 additions and 20 deletions
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src/modules/land_detector/LandDetector.cpp
+10 -10
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@@ -57,7 +57,7 @@ LandDetector::~LandDetector()
void LandDetector::start()
{
_update_params(true);
_update_params();
ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL);
}
@@ -65,7 +65,10 @@ void LandDetector::Run()
{
perf_begin(_cycle_perf);
_update_params();
if (_parameter_update_sub.updated()) {
_update_params();
}
_actuator_armed_sub.update(&_actuator_armed);
_update_topics();
_update_state();
@@ -131,16 +134,13 @@ void LandDetector::Run()
}
}
void LandDetector::_update_params(const bool force)
void LandDetector::_update_params()
{
// check for parameter updates
if (_parameter_update_sub.updated() || force) {
// clear update
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
parameter_update_s param_update;
_parameter_update_sub.copy(&param_update);
_update_total_flight_time();
}
updateParams();
_update_total_flight_time();
}
void LandDetector::_update_state()