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Standardize class member variable naming convention in the FixedWingLandDetector class.

This commit is contained in:
mcsauder 2019-06-26 09:47:01 -06:00 committed by Daniel Agar
parent 7ba658d573
commit 2b9ad179a2
2 changed files with 12 additions and 12 deletions
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18
src/modules/land_detector/FixedwingLandDetector.cpp
View File

@ -65,8 +65,8 @@ FixedwingLandDetector::FixedwingLandDetector()
void FixedwingLandDetector::_update_topics()
{
_airspeedSub.update(&_airspeed);
_sensor_bias_sub.update(&_sensors);
_local_pos_sub.update(&_local_pos);
_sensor_bias_sub.update(&_sensor_bias);
_vehicle_local_position_sub.update(&_vehicle_local_position);
}
void FixedwingLandDetector::_update_params()
@ -82,7 +82,7 @@ float FixedwingLandDetector::_get_max_altitude()
// TODO
// This means no altitude limit as the limit
// is always current position plus 10000 meters
return roundf(-_local_pos.z + 10000);
return roundf(-_vehicle_local_position.z + 10000);
}
bool FixedwingLandDetector::_get_landed_state()
@ -94,18 +94,18 @@ bool FixedwingLandDetector::_get_landed_state()
bool landDetected = false;
if (hrt_elapsed_time(&_local_pos.timestamp) < 500 * 1000) {
if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500 * 1000) {
// horizontal velocity
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy *
_local_pos.vy);
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
_vehicle_local_position.vy * _vehicle_local_position.vy);
if (PX4_ISFINITE(val)) {
_velocity_xy_filtered = val;
}
// vertical velocity
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_local_pos.vz);
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicle_local_position.vz);
if (PX4_ISFINITE(val)) {
_velocity_z_filtered = val;
@ -115,8 +115,8 @@ bool FixedwingLandDetector::_get_landed_state()
// a leaking lowpass prevents biases from building up, but
// gives a mostly correct response for short impulses
const float acc_hor = sqrtf(_sensors.accel_x * _sensors.accel_x +
_sensors.accel_y * _sensors.accel_y);
const float acc_hor = sqrtf(_sensor_bias.accel_x * _sensor_bias.accel_x +
_sensor_bias.accel_y * _sensor_bias.accel_y);
_accel_horz_lp = _accel_horz_lp * 0.8f + acc_hor * 0.18f;
// crude land detector for fixedwing

6
src/modules/land_detector/FixedwingLandDetector.h
View File

@ -89,11 +89,11 @@ private:
uORB::Subscription _airspeedSub{ORB_ID(airspeed)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position});
uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position});
airspeed_s _airspeed{};
sensor_bias_s _sensors{};
vehicle_local_position_s _local_pos{};
sensor_bias_s _sensor_bias{};
vehicle_local_position_s _vehicle_local_position{};
float _velocity_xy_filtered{0.0f};
float _velocity_z_filtered{0.0f};