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LaunchDetection: fix code style (name class members with trailing underscore) 

And also align parameter handle name to real parameter name.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-11-25 12:08:04 +01:00
parent 1d75138659
commit 3f773809c4
2 changed files with 16 additions and 16 deletions
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24
src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp
View File

@ -51,26 +51,26 @@ void LaunchDetector::update(const float dt, const float accel_x, orb_advert_t *
switch (state_) {
case launch_detection_status_s::STATE_WAITING_FOR_LAUNCH:
_info_delay_counter_s_ += dt;
info_delay_counter_s_ += dt;
/* Inform user that launchdetection is running every kInfoDelay seconds */
if (_info_delay_counter_s_ >= kInfoDelay) {
if (info_delay_counter_s_ >= kInfoDelay) {
mavlink_log_info(mavlink_log_pub, "Launch detection running\t");
events::send(events::ID("launch_detection_running_info"), events::Log::Info, "Launch detection running");
_info_delay_counter_s_ = 0.f; // reset counter
info_delay_counter_s_ = 0.f; // reset counter
}
/* Detect a acceleration that is longer and stronger as the minimum given by the params */
if (accel_x > _param_laun_cat_a.get()) {
if (accel_x > param_fw_laun_ac_thld_.get()) {
acceleration_detected_counter_ += dt;
if (acceleration_detected_counter_ > _param_laun_cat_t.get()) {
if (_param_laun_cat_mdel.get() > 0.f) {
if (acceleration_detected_counter_ > param_fw_laun_ac_t_.get()) {
if (param_fw_laun_mot_del_.get() > 0.f) {
state_ = launch_detection_status_s::STATE_LAUNCH_DETECTED_DISABLED_MOTOR;
mavlink_log_info(mavlink_log_pub, "Launch detected: enable control, waiting %8.1fs until throttling up\t",
(double)_param_laun_cat_mdel.get());
(double)param_fw_laun_mot_del_.get());
events::send<float>(events::ID("launch_detection_wait_for_throttle"), {events::Log::Info, events::LogInternal::Info},
"Launch detected: enablecontrol, waiting {1:.1}s until full throttle", (double)_param_laun_cat_mdel.get());
"Launch detected: enablecontrol, waiting {1:.1}s until full throttle", (double)param_fw_laun_mot_del_.get());
} else {
/* No motor delay set: go directly to enablemotors state */
@ -92,19 +92,19 @@ void LaunchDetector::update(const float dt, const float accel_x, orb_advert_t *
* over to allow full throttle */
motor_delay_counter_ += dt;
if (motor_delay_counter_ > _param_laun_cat_mdel.get()) {
if (motor_delay_counter_ > param_fw_laun_mot_del_.get()) {
mavlink_log_info(mavlink_log_pub, "Launch detected: enable motors\t");
events::send(events::ID("launch_detection_enable_motors"), {events::Log::Info, events::LogInternal::Info},
"Launch detected: enable motors");
state_ = launch_detection_status_s::STATE_FLYING;
}
_info_delay_counter_s_ = kInfoDelay; // reset counter
info_delay_counter_s_ = kInfoDelay; // reset counter
break;
default: // state flying
_info_delay_counter_s_ = kInfoDelay; // reset counter
info_delay_counter_s_ = kInfoDelay; // reset counter
break;
}
@ -117,7 +117,7 @@ uint LaunchDetector::getLaunchDetected() const
void LaunchDetector::reset()
{
_info_delay_counter_s_ = 0.f;
info_delay_counter_s_ = 0.f;
acceleration_detected_counter_ = 0.f;
motor_delay_counter_ = 0.f;
state_ = launch_detection_status_s::STATE_WAITING_FOR_LAUNCH;

8
src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.h
View File

@ -94,7 +94,7 @@ private:
/**
* Info delay counter (to publish info every kInfoDelay seconds) [s]
*/
float _info_delay_counter_s_{kInfoDelay};
float info_delay_counter_s_{kInfoDelay};
/**
* Counter for how long the measured acceleration is above the defined threshold [s]
@ -107,9 +107,9 @@ private:
uint state_{launch_detection_status_s::STATE_WAITING_FOR_LAUNCH};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::FW_LAUN_AC_THLD>) _param_laun_cat_a,
(ParamFloat<px4::params::FW_LAUN_AC_T>) _param_laun_cat_t,
(ParamFloat<px4::params::FW_LAUN_MOT_DEL>) _param_laun_cat_mdel
(ParamFloat<px4::params::FW_LAUN_AC_THLD>) param_fw_laun_ac_thld_,
(ParamFloat<px4::params::FW_LAUN_AC_T>) param_fw_laun_ac_t_,
(ParamFloat<px4::params::FW_LAUN_MOT_DEL>) param_fw_laun_mot_del_
)
};