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Refactor the LandDetector class to

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- Reduce duplicate code in LandDetector _check_params() method.
 - Standardize naming cases.
 - Implement DEFINE_PARAMETERS() macro.
This commit is contained in:
mcsauder
2019-06-26 09:23:02 +02:00
committed by Beat Küng
parent 46662072d1
commit faa3c3dc6f
2 changed files with 50 additions and 43 deletions
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src/modules/land_detector/LandDetector.h
+27 -21
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@@ -43,6 +43,7 @@
#pragma once
#include <px4_module.h>
#include <px4_module_params.h>
#include <lib/hysteresis/hysteresis.h>
#include <parameters/param.h>
#include <perf/perf_counter.h>
@@ -57,7 +58,7 @@ using namespace time_literals;
namespace land_detector
{
class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::ScheduledWorkItem
{
public:
enum class LandDetectionState {
@@ -71,7 +72,6 @@ public:
LandDetector();
virtual ~LandDetector();
static int task_spawn(int argc, char *argv[]);
/** @see ModuleBase */
static int custom_command(int argc, char *argv[])
@@ -88,28 +88,27 @@ public:
/**
* @return current state.
*/
LandDetectionState get_state() const
{
return _state;
}
LandDetectionState get_state() const { return _state; }
/**
* Get the work queue going.
*/
void start();
protected:
static int task_spawn(int argc, char *argv[]);
/**
* Update uORB topics.
*/
virtual void _update_topics() = 0;
protected:
/**
* Update parameters.
*/
virtual void _update_params() = 0;
/**
* Update uORB topics.
*/
virtual void _update_topics() = 0;
/**
* @return true if UAV is in a landed state.
*/
@@ -143,7 +142,7 @@ protected:
/** Run main land detector loop at this interval. */
static constexpr uint32_t LAND_DETECTOR_UPDATE_INTERVAL = 20_ms;
orb_advert_t _landDetectedPub{nullptr};
orb_advert_t _land_detected_pub{nullptr};
vehicle_land_detected_s _landDetected{};
LandDetectionState _state{LandDetectionState::LANDED};
@@ -154,26 +153,33 @@ protected:
systemlib::Hysteresis _ground_contact_hysteresis{true};
systemlib::Hysteresis _ground_effect_hysteresis{false};
struct actuator_armed_s _arming {};
actuator_armed_s _arming {};
private:
void Run() override;
void _check_params(bool force = false);
void _check_params();
void Run() override;
void _update_state();
param_t _p_total_flight_time_high{PARAM_INVALID};
param_t _p_total_flight_time_low{PARAM_INVALID};
bool _previous_armed_state{false}; ///< stores the previous actuator_armed.armed state
uint32_t _measure_interval{LAND_DETECTOR_UPDATE_INTERVAL};
uint64_t _total_flight_time{0}; ///< in microseconds
hrt_abstime _takeoff_time{0};
perf_counter_t _cycle_perf;
perf_counter_t _cycle_perf{(perf_alloc(PC_ELAPSED, "land_detector_cycle"))};
bool _previous_arming_state{false}; ///< stores the previous _arming.armed state
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _param_update_sub{ORB_ID(parameter_update)};
uORB::Subscription _parameterSub{ORB_ID(parameter_update)};
uORB::Subscription _armingSub{ORB_ID(actuator_armed)};
DEFINE_PARAMETERS(
(ParamInt<px4::params::LND_FLIGHT_T_HI>) _param_total_flight_time_high,
(ParamInt<px4::params::LND_FLIGHT_T_LO>) _param_total_flight_time_low
);
};
} // namespace land_detector