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land_detector initiate cycle immediately #12196

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merged 1 commit into from
Jun 16, 2019
Merged

land_detector initiate cycle immediately #12196

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30 changes: 10 additions & 20 deletions src/modules/land_detector/LandDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
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@mcsauder mcsauder Jun 8, 2019 •
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Is it possible to default initialize these values at the struct definition instead?
(Edit: Except for the timestamp, of course.)


_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();
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2 changes: 1 addition & 1 deletion src/modules/land_detector/LandDetector.h
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Expand Up @@ -96,7 +96,7 @@ class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
/**
* Get the work queue going.
*/
int start();
void start();

protected:

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22 changes: 9 additions & 13 deletions src/modules/land_detector/land_detector_main.cpp
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Expand Up @@ -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();
Expand All @@ -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()
Expand Down