diff options
Diffstat (limited to 'src/modules/land_detector/FixedwingLandDetector.cpp')
| -rw-r--r-- | src/modules/land_detector/FixedwingLandDetector.cpp | 13 |
1 files changed, 6 insertions, 7 deletions
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp index 74a197bd2..8e5bcf7ba 100644 --- a/src/modules/land_detector/FixedwingLandDetector.cpp +++ b/src/modules/land_detector/FixedwingLandDetector.cpp @@ -51,7 +51,6 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(), _airspeedSub(-1), _airspeed({}), _parameterSub(-1), - _velocity_xy_filtered(0.0f), _velocity_z_filtered(0.0f), _airspeed_filtered(0.0f), @@ -64,7 +63,7 @@ FixedwingLandDetector::FixedwingLandDetector() : LandDetector(), void FixedwingLandDetector::initialize() { - //Subscribe to local position and airspeed data + // Subscribe to local position and airspeed data _vehicleLocalPositionSub = orb_subscribe(ORB_ID(vehicle_local_position)); _airspeedSub = orb_subscribe(ORB_ID(airspeed)); } @@ -77,30 +76,30 @@ void FixedwingLandDetector::updateSubscriptions() bool FixedwingLandDetector::update() { - //First poll for new data from our subscriptions + // First poll for new data from our subscriptions updateSubscriptions(); const uint64_t now = hrt_absolute_time(); bool landDetected = false; - //TODO: reset filtered values on arming? + // TODO: reset filtered values on arming? _velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy); _velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz); _airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s; - /* crude land detector for fixedwing */ + // crude land detector for fixedwing if (_velocity_xy_filtered < _params.maxVelocity && _velocity_z_filtered < _params.maxClimbRate && _airspeed_filtered < _params.maxAirSpeed) { - //These conditions need to be stable for a period of time before we trust them + // these conditions need to be stable for a period of time before we trust them if (now > _landDetectTrigger) { landDetected = true; } } else { - //reset land detect trigger + // reset land detect trigger _landDetectTrigger = now + LAND_DETECTOR_TRIGGER_TIME; } |