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Cherry pick the directory and voted_sensors_update.h from PR #9756.

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Consolidate _update_params() methods for improved inheritance from the LandDetector base class.
Move common uORB::Subscriptions to the base class for inheritance.
Deprecate redundant override methods.
This commit is contained in:
mcsauder
2019-10-14 21:25:57 +02:00
committed by Matthias Grob
parent c44e4b9578
commit fb12ddb69a
8 changed files with 63 additions and 102 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+8 -25
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@@ -39,8 +39,6 @@
* @author Julian Oes <julian@oes.ch>
*/
#include <matrix/math.hpp>
#include "FixedwingLandDetector.h"
namespace land_detector
@@ -55,35 +53,20 @@ FixedwingLandDetector::FixedwingLandDetector()
void FixedwingLandDetector::_update_topics()
{
LandDetector::_update_topics();
_airspeed_sub.update(&_airspeed);
_vehicle_acceleration_sub.update(&_vehicle_acceleration);
_vehicle_local_position_sub.update(&_vehicle_local_position);
}
void FixedwingLandDetector::_update_params()
{
// check for parameter updates
if (_parameter_update_sub.updated()) {
// clear update
parameter_update_s pupdate;
_parameter_update_sub.copy(&pupdate);
// update parameters from storage
_update_params();
}
}
float FixedwingLandDetector::_get_max_altitude()
{
// TODO
// This means no altitude limit as the limit
// is always current position plus 10000 meters
// TODO: This means no altitude limit as the limit
// is always current position plus 10000 meters.
return roundf(-_vehicle_local_position.z + 10000);
}
bool FixedwingLandDetector::_get_landed_state()
{
// only trigger flight conditions if we are armed
// Only trigger flight conditions if we are armed.
if (!_actuator_armed.armed) {
return true;
}
@@ -116,11 +99,11 @@ bool FixedwingLandDetector::_get_landed_state()
_xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f;
// crude land detector for fixedwing
landDetected = _xy_accel_filtered < _param_lndfw_xyaccel_max.get()
&& _airspeed_filtered < _param_lndfw_airspd.get()
// Crude land detector for fixedwing.
landDetected = _airspeed_filtered < _param_lndfw_airspd.get()
&& _velocity_xy_filtered < _param_lndfw_vel_xy_max.get()
&& _velocity_z_filtered < _param_lndfw_vel_z_max.get();
&& _velocity_z_filtered < _param_lndfw_vel_z_max.get()
&& _xy_accel_filtered < _param_lndfw_xyaccel_max.get();
} else {
// Control state topic has timed out and we need to assume we're landed.