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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/MulticopterLandDetector.cpp
+5 -3
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@@ -86,17 +86,19 @@ MulticopterLandDetector::MulticopterLandDetector()
void MulticopterLandDetector::_update_topics()
{
LandDetector::_update_topics();
_actuator_controls_sub.update(&_actuator_controls);
_battery_sub.update(&_battery_status);
_vehicle_acceleration_sub.update(&_vehicle_acceleration);
_vehicle_angular_velocity_sub.update(&_vehicle_angular_velocity);
_vehicle_control_mode_sub.update(&_vehicle_control_mode);
_vehicle_local_position_sub.update(&_vehicle_local_position);
_vehicle_local_position_setpoint_sub.update(&_vehicle_local_position_setpoint);
}
void MulticopterLandDetector::_update_params()
void MulticopterLandDetector::_update_params(const bool force)
{
LandDetector::_update_params(force);
_freefall_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_lndmc_ffall_ttri.get()));
param_get(_paramHandle.minThrottle, &_params.minThrottle);