Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge

Conflicts:
	src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
	src/modules/uORB/topics/vehicle_attitude.h

1 files changed, 124 insertions, 0 deletions

diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
new file mode 100644
index 000000000..a4fbb9861
--- /dev/null
+++ b/src/modules/land_detector/LandDetector.cpp
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file LandDetector.cpp
+ * Land detection algorithm
+ *
+ * @author Johan Jansen <jnsn.johan@gmail.com>
+ * @author Morten Lysgaard <morten@lysgaard.no>
+ */
+
+#include "LandDetector.h"
+#include <unistd.h>                 //usleep
+#include <drivers/drv_hrt.h>
+
+LandDetector::LandDetector() :
+	_landDetectedPub(-1),
+	_landDetected({0, false}),
+	_taskShouldExit(false),
+	_taskIsRunning(false)
+{
+	// ctor
+}
+
+LandDetector::~LandDetector()
+{
+	_taskShouldExit = true;
+	close(_landDetectedPub);
+}
+
+void LandDetector::shutdown()
+{
+	_taskShouldExit = true;
+}
+
+void LandDetector::start()
+{
+	// make sure this method has not already been called by another thread
+	if (isRunning()) {
+		return;
+	}
+
+	// advertise the first land detected uORB
+	_landDetected.timestamp = hrt_absolute_time();
+	_landDetected.landed = false;
+	_landDetectedPub = orb_advertise(ORB_ID(vehicle_land_detected), &_landDetected);
+
+	// initialize land detection algorithm
+	initialize();
+
+	// task is now running, keep doing so until shutdown() has been called
+	_taskIsRunning = true;
+	_taskShouldExit = false;
+
+	while (isRunning()) {
+
+		bool landDetected = update();
+
+		// publish if land detection state has changed
+		if (_landDetected.landed != landDetected) {
+			_landDetected.timestamp = hrt_absolute_time();
+			_landDetected.landed = landDetected;
+
+			// publish the land detected broadcast
+			orb_publish(ORB_ID(vehicle_land_detected), _landDetectedPub, &_landDetected);
+		}
+
+		// limit loop rate
+		usleep(1000000 / LAND_DETECTOR_UPDATE_RATE);
+	}
+
+	_taskIsRunning = false;
+	_exit(0);
+}
+
+bool LandDetector::orb_update(const struct orb_metadata *meta, int handle, void *buffer)
+{
+	bool newData = false;
+
+	// check if there is new data to grab
+	if (orb_check(handle, &newData) != OK) {
+		return false;
+	}
+
+	if (!newData) {
+		return false;
+	}
+
+	if (orb_copy(meta, handle, buffer) != OK) {
+		return false;
+	}
+
+	return true;
+}