From 01dc7747032bc3d14408e23a13ef45c9f37e46c5 Mon Sep 17 00:00:00 2001 From: Johan Jansen Date: Mon, 9 Feb 2015 12:42:20 +0100 Subject: LandDetector: Use vehicle_attitude instead of sensors_combined --- src/modules/land_detector/MulticopterLandDetector.cpp | 14 +++++++------- src/modules/land_detector/MulticopterLandDetector.h | 6 +++--- 2 files changed, 10 insertions(+), 10 deletions(-) (limited to 'src/modules/land_detector') diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index ce391c817..61b5867bf 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -48,16 +48,16 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(), _paramHandle(), _params(), _vehicleGlobalPositionSub(-1), - _sensorsCombinedSub(-1), _waypointSub(-1), _actuatorsSub(-1), _armingSub(-1), _parameterSub(-1), + _attitudeSub(-1), _vehicleGlobalPosition({}), - _sensors({}), _waypoint({}), _actuators({}), _arming({}), + _vehicleAttitude({}), _landTimer(0) { _paramHandle.maxRotation = param_find("LNDMC_ROT_MAX"); @@ -70,7 +70,7 @@ void MulticopterLandDetector::initialize() { // subscribe to position, attitude, arming and velocity changes _vehicleGlobalPositionSub = orb_subscribe(ORB_ID(vehicle_global_position)); - _sensorsCombinedSub = orb_subscribe(ORB_ID(sensor_combined)); + _attitudeSub = orb_subscribe(ORB_ID(vehicle_attitude)); _waypointSub = orb_subscribe(ORB_ID(position_setpoint_triplet)); _actuatorsSub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS); _armingSub = orb_subscribe(ORB_ID(actuator_armed)); @@ -83,7 +83,7 @@ void MulticopterLandDetector::initialize() void MulticopterLandDetector::updateSubscriptions() { orb_update(ORB_ID(vehicle_global_position), _vehicleGlobalPositionSub, &_vehicleGlobalPosition); - orb_update(ORB_ID(sensor_combined), _sensorsCombinedSub, &_sensors); + orb_update(ORB_ID(vehicle_attitude), _attitudeSub, &_vehicleAttitude); orb_update(ORB_ID(position_setpoint_triplet), _waypointSub, &_waypoint); orb_update(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _actuatorsSub, &_actuators); orb_update(ORB_ID(actuator_armed), _armingSub, &_arming); @@ -109,9 +109,9 @@ bool MulticopterLandDetector::update() + _vehicleGlobalPosition.vel_e * _vehicleGlobalPosition.vel_e) > _params.maxVelocity; // next look if all rotation angles are not moving - bool rotating = sqrtf(_sensors.gyro_rad_s[0] * _sensors.gyro_rad_s[0] + - _sensors.gyro_rad_s[1] * _sensors.gyro_rad_s[1] + - _sensors.gyro_rad_s[2] * _sensors.gyro_rad_s[2]) > _params.maxRotation; + bool rotating = sqrtf(_vehicleAttitude.rollspeed*_vehicleAttitude.rollspeed + + _vehicleAttitude.pitchspeed*_vehicleAttitude.pitchspeed + + _vehicleAttitude.yawspeed*_vehicleAttitude.yawspeed) > _params.maxRotation; // check if thrust output is minimal (about half of default) bool minimalThrust = _actuators.control[3] <= _params.maxThrottle; diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 7bb7f1a90..eeb5175cc 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -44,7 +44,7 @@ #include "LandDetector.h" #include -#include +#include #include #include #include @@ -98,17 +98,17 @@ private: private: int _vehicleGlobalPositionSub; /**< notification of global position */ - int _sensorsCombinedSub; int _waypointSub; int _actuatorsSub; int _armingSub; int _parameterSub; + int _attitudeSub; struct vehicle_global_position_s _vehicleGlobalPosition; /**< the result from global position subscription */ - struct sensor_combined_s _sensors; /**< subscribe to sensor readings */ struct position_setpoint_triplet_s _waypoint; /**< subscribe to autopilot navigation */ struct actuator_controls_s _actuators; struct actuator_armed_s _arming; + struct vehicle_attitude_s _vehicleAttitude; uint64_t _landTimer; /**< timestamp in microseconds since a possible land was detected*/ }; -- cgit v1.2.3