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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.h
+3 -7
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@@ -67,7 +67,7 @@ public:
MulticopterLandDetector();
protected:
void _update_params() override;
void _update_params(const bool force = false) override;
void _update_topics() override;
bool _get_landed_state() override;
@@ -79,7 +79,7 @@ protected:
float _get_max_altitude() override;
private:
/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
/** Get control mode dependent pilot throttle threshold with which we should quit landed state and take off. */
float _get_takeoff_throttle();
bool _has_low_thrust();
@@ -100,9 +100,7 @@ private:
/** Time interval in us in which wider acceptance thresholds are used after landed. */
static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;
/**
* @brief Handles for interesting parameters
**/
/** Handles for interesting parameters. **/
struct {
param_t minThrottle;
param_t hoverThrottle;
@@ -127,10 +125,8 @@ private:
actuator_controls_s _actuator_controls {};
battery_status_s _battery_status {};
vehicle_acceleration_s _vehicle_acceleration{};
vehicle_angular_velocity_s _vehicle_angular_velocity{};
vehicle_control_mode_s _vehicle_control_mode {};
vehicle_local_position_s _vehicle_local_position {};
vehicle_local_position_setpoint_s _vehicle_local_position_setpoint {};
hrt_abstime _min_trust_start{0}; ///< timestamp when minimum trust was applied first