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land_detector: publish when there is proper data

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Instead of publishing before even having done update(), let's wait for a
result and then advertise.
This commit is contained in:
Julian Oes
2016-06-05 14:36:01 +02:00
committed by Lorenz Meier
parent ba7d35d9d0
commit b2719cf439
1 changed files with 9 additions and 11 deletions
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src/modules/land_detector/LandDetector.cpp
+9 -11
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@@ -49,7 +49,7 @@ namespace landdetection
{
LandDetector::LandDetector() :
_landDetectedPub(0),
_landDetectedPub(nullptr),
_landDetected{0, false, false},
_arming_time(0),
_taskShouldExit(false),
@@ -93,7 +93,6 @@ void LandDetector::cycle()
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = false;
_landDetected.freefall = false;
_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
// initialize land detection algorithm
initialize();
@@ -104,18 +103,17 @@ void LandDetector::cycle()
}
LandDetectionResult current_state = update();
bool landDetected = (current_state == LANDDETECTION_RES_LANDED);
bool freefallDetected = (current_state == LANDDETECTION_RES_FREEFALL);
// publish if land detection state has changed
if ((_landDetected.landed != landDetected) || (_landDetected.freefall != freefallDetected)) {
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = landDetected;
_landDetected.freefall = freefallDetected;
_landDetected.timestamp = hrt_absolute_time();
_landDetected.landed = (current_state == LANDDETECTION_RES_LANDED);
_landDetected.freefall = (current_state == LANDDETECTION_RES_FREEFALL);
// publish the land detected broadcast
// publish the land detected broadcast
if (_landDetectedPub == nullptr) {
_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
} else {
orb_publish(ORB_ID(vehicle_land_detected), (orb_advert_t)_landDetectedPub, &_landDetected);
//warnx("in air status changed: %s", (_landDetected.landed) ? "LANDED" : "TAKEOFF");
}
if (!_taskShouldExit) {