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LandDetector: fix total system flight time (landed & takeoff logic)

sbg
Beat Küng 8 years ago committed by Lorenz Meier
parent
f718b3a97a
commit
05b649cc86
1 changed files with 9 additions and 8 deletions
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  1. 17
      src/modules/land_detector/LandDetector.cpp

17
src/modules/land_detector/LandDetector.cpp
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@ -133,21 +133,22 @@ void LandDetector::_cycle() @@ -133,21 +133,22 @@ void LandDetector::_cycle()
(_landDetected.landed != landDetected) ||
(_landDetected.ground_contact != ground_contactDetected)) {
_landDetected.timestamp = hrt_absolute_time();
_landDetected.freefall = (_state == LandDetectionState::FREEFALL);
_landDetected.landed = (_state == LandDetectionState::LANDED);
_landDetected.ground_contact = (_state == LandDetectionState::GROUND_CONTACT);
// We did take off
if (landDetected && !_landDetected.landed) {
if (!landDetected && _landDetected.landed) {
// We did take off
_takeoff_time = now;
} else if (_takeoff_time != 0 && !landDetected && _landDetected.landed) {
} else if (_takeoff_time != 0 && landDetected && !_landDetected.landed) {
// We landed
_total_flight_time += now - _takeoff_time;
_takeoff_time = 0;
param_set(_p_total_flight_time, &_total_flight_time);
}
_landDetected.timestamp = hrt_absolute_time();
_landDetected.freefall = (_state == LandDetectionState::FREEFALL);
_landDetected.landed = (_state == LandDetectionState::LANDED);
_landDetected.ground_contact = (_state == LandDetectionState::GROUND_CONTACT);
int instance;
orb_publish_auto(ORB_ID(vehicle_land_detected), &_landDetectedPub, &_landDetected,
&instance, ORB_PRIO_DEFAULT);

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