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Fixed wing land detector: Use control state, use horizontal acceleration for takeoff detect

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This commit is contained in:
Lorenz Meier
2015-11-17 14:15:41 +01:00
parent dc7369a1d0
commit f02dc3c95f
4 changed files with 63 additions and 34 deletions
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src/modules/land_detector/LandDetector.cpp
+4 -3
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@@ -57,14 +57,14 @@ _work{} {
LandDetector::~LandDetector()
{
work_cancel(LPWORK, &_work);
work_cancel(HPWORK, &_work);
_taskShouldExit = true;
}
int LandDetector::start()
{
/* schedule a cycle to start things */
work_queue(LPWORK, &_work, (worker_t)&LandDetector::cycle_trampoline, this, 0);
work_queue(HPWORK, &_work, (worker_t)&LandDetector::cycle_trampoline, this, 0);
return 0;
}
@@ -107,10 +107,11 @@ void LandDetector::cycle()
// publish the land detected broadcast
orb_publish(ORB_ID(vehicle_land_detected), (orb_advert_t)_landDetectedPub, &_landDetected);
//warnx("in air status changed: %s", (_landDetected.landed) ? "LANDED" : "TAKEOFF");
}
if (!_taskShouldExit) {
work_queue(LPWORK, &_work, (worker_t)&LandDetector::cycle_trampoline, this,
work_queue(HPWORK, &_work, (worker_t)&LandDetector::cycle_trampoline, this,
USEC2TICK(1000000 / LAND_DETECTOR_UPDATE_RATE));
}
}