diff options
Diffstat (limited to 'src/modules/land_detector/MulticopterLandDetector.h')
| -rw-r--r-- | src/modules/land_detector/MulticopterLandDetector.h | 33 |
1 files changed, 26 insertions, 7 deletions
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 5b4172a36..7bb7f1a90 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -48,6 +48,8 @@ #include <uORB/topics/position_setpoint_triplet.h> #include <uORB/topics/actuator_controls.h> #include <uORB/topics/actuator_armed.h> +#include <uORB/topics/parameter_update.h> +#include <systemlib/param/param.h> class MulticopterLandDetector : public LandDetector { @@ -70,13 +72,29 @@ protected: **/ void initialize() override; - //Algorithm parameters (TODO: should probably be externalized) - static constexpr float MC_LAND_DETECTOR_CLIMBRATE_MAX = 0.30f; /**< max +- climb rate in m/s */ - static constexpr float MC_LAND_DETECTOR_ROTATION_MAX = 0.5f; /**< max rotation in rad/sec (= 30 deg/s) */ - static constexpr float MC_LAND_DETECTOR_THRUST_MAX = 0.2f; - static constexpr float MC_LAND_DETECTOR_VELOCITY_MAX = 1.0f; /**< max +- horizontal movement in m/s */ - static constexpr uint32_t MC_LAND_DETECTOR_TRIGGER_TIME = - 2000000; /**< usec that landing conditions have to hold before triggering a land */ + +private: + /** + * @brief download and update local parameter cache + **/ + void updateParameterCache(const bool force); + + /** + * @brief Handles for interesting parameters + **/ + struct { + param_t maxClimbRate; + param_t maxVelocity; + param_t maxRotation; + param_t maxThrottle; + } _paramHandle; + + struct { + float maxClimbRate; + float maxVelocity; + float maxRotation; + float maxThrottle; + } _params; private: int _vehicleGlobalPositionSub; /**< notification of global position */ @@ -84,6 +102,7 @@ private: int _waypointSub; int _actuatorsSub; int _armingSub; + int _parameterSub; struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */ struct sensor_combined_s _sensors; /**< subscribe to sensor readings */ |