land_detector initiate cycle immediately

- fixes #12190
PX4 · Jun 16, 2019 · 7cb520d · 7cb520d
1 parent 648e7de
commit 7cb520d
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Showing 3 changed files with 20 additions and 34 deletions.
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
@@ -57,40 +57,30 @@ LandDetector::LandDetector() :
 	ScheduledWorkItem(px4::wq_configurations::hp_default),
 	_cycle_perf(perf_alloc(PC_ELAPSED, "land_detector_cycle"))
 {
+	_landDetected.timestamp = hrt_absolute_time();
+	_landDetected.freefall = false;
+	_landDetected.landed = true;
+	_landDetected.ground_contact = false;
+	_landDetected.maybe_landed = false;
+
+	_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
+	_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
 }
 
 LandDetector::~LandDetector()
 {
 	perf_free(_cycle_perf);
 }
 
-int LandDetector::start()
+void LandDetector::start()
 {
-	ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL, 10000);
-
-	return PX4_OK;
+	ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL);
 }
 
 void LandDetector::Run()
 {
 	perf_begin(_cycle_perf);
 
-	if (_object.load() == nullptr) { // not initialized yet
-		// Advertise the first land detected uORB.
-		_landDetected.timestamp = hrt_absolute_time();
-		_landDetected.freefall = false;
-		_landDetected.landed = true;
-		_landDetected.ground_contact = false;
-		_landDetected.maybe_landed = false;
-
-		_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
-		_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
-
-		_check_params(true);
-
-		_object.store(this);
-	}
-
 	_check_params(false);
 	_armingSub.update(&_arming);
 	_update_topics();

diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
@@ -96,7 +96,7 @@ class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
 	/**
 	 * Get the work queue going.
 	 */
-	int start();
+	void start();
 
 protected:
 

diff --git a/src/modules/land_detector/land_detector_main.cpp b/src/modules/land_detector/land_detector_main.cpp
@@ -62,10 +62,10 @@ int LandDetector::task_spawn(int argc, char *argv[])
 {
 	if (argc < 2) {
 		print_usage();
-		return -1;
+		return PX4_ERROR;
 	}
 
-	LandDetector *obj;
+	LandDetector *obj = nullptr;
 
 	if (strcmp(argv[1], "fixedwing") == 0) {
 		obj = new FixedwingLandDetector();
@@ -81,28 +81,24 @@ int LandDetector::task_spawn(int argc, char *argv[])
 
 	} else {
 		print_usage("unknown mode");
-		return -1;
+		return PX4_ERROR;
 	}
 
 	if (obj == nullptr) {
 		PX4_ERR("alloc failed");
-		return -1;
-	}
-
-	int ret = obj->start();
-
-	if (ret < 0) {
-		delete obj;
-		return ret;
+		return PX4_ERROR;
 	}
 
 	// Remember current active mode
 	strncpy(_currentMode, argv[1], sizeof(_currentMode) - 1);
 	_currentMode[sizeof(_currentMode) - 1] = '\0';
 
-	wait_until_running(); // this will wait until _object is set from the cycle method
+	_object.store(obj);
 	_task_id = task_id_is_work_queue;
-	return 0;
+
+	obj->start();
+
+	return PX4_OK;
 }
 
 int LandDetector::print_status()