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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/LandDetector.h
+28 -16
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@@ -42,16 +42,25 @@
#pragma once
#include <float.h>
#include <lib/hysteresis/hysteresis.h>
#include <parameters/param.h>
#include <math.h>
#include <perf/perf_counter.h>
#include <px4_config.h>
#include <px4_defines.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_module.h>
#include <px4_module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/sensor_bias.h>
#include <uORB/topics/vehicle_acceleration.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
using namespace time_literals;
@@ -100,14 +109,15 @@ public:
protected:
/**
* Update parameters.
* Updates parameters if changes have occurred or if forced.
* @var force Forces a parameter update.
*/
virtual void _update_params() = 0;
virtual void _update_params(const bool force = false);
/**
* Update uORB topics.
* Updates subscribed uORB topics.
*/
virtual void _update_topics() = 0;
virtual void _update_topics();
/**
* @return true if UAV is in a landed state.
@@ -132,7 +142,7 @@ protected:
/**
* @return maximum altitude that can be reached
*/
virtual float _get_max_altitude() = 0;
virtual float _get_max_altitude() { return INFINITY; }
/**
* @return true if vehicle could be in ground effect (close to ground)
@@ -142,9 +152,6 @@ protected:
/** Run main land detector loop at this interval. */
static constexpr uint32_t LAND_DETECTOR_UPDATE_INTERVAL = 20_ms;
orb_advert_t _land_detected_pub{nullptr};
vehicle_land_detected_s _land_detected{};
LandDetectionState _state{LandDetectionState::LANDED};
systemlib::Hysteresis _freefall_hysteresis{false};
@@ -153,27 +160,32 @@ protected:
systemlib::Hysteresis _ground_contact_hysteresis{true};
systemlib::Hysteresis _ground_effect_hysteresis{false};
actuator_armed_s _actuator_armed {};
actuator_armed_s _actuator_armed{};
vehicle_acceleration_s _vehicle_acceleration{};
vehicle_land_detected_s _land_detected{};
vehicle_local_position_s _vehicle_local_position{};
orb_advert_t _land_detected_pub{nullptr};
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
private:
void _check_params(bool force = false);
void Run() override;
void _update_state();
void _update_total_flight_time();
bool _previous_armed_state{false}; ///< stores the previous actuator_armed.armed state
uint64_t _total_flight_time{0}; ///< in microseconds
bool _previous_armed_state{false}; ///< stores the previous actuator_armed.armed state
hrt_abstime _takeoff_time{0};
hrt_abstime _total_flight_time{0}; ///< total vehicle flight time in microseconds
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, "land_detector_cycle")};
uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
DEFINE_PARAMETERS_CUSTOM_PARENT(