fix multicopter land detector: do not update parameters every cycle (#…

…13212) And add updateParams() call in LandDetector::_update_params().
PX4 · Oct 18, 2019 · e9c9fb8 · e9c9fb8
1 parent cefa7ec
commit e9c9fb8
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Showing 4 changed files with 20 additions and 20 deletions.
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
@@ -57,15 +57,18 @@ LandDetector::~LandDetector()
 
 void LandDetector::start()
 {
-	_update_params(true);
+	_update_params();
 	ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL);
 }
 
 void LandDetector::Run()
 {
 	perf_begin(_cycle_perf);
 
-	_update_params();
+	if (_parameter_update_sub.updated()) {
+		_update_params();
+	}
+
 	_actuator_armed_sub.update(&_actuator_armed);
 	_update_topics();
 	_update_state();
@@ -131,16 +134,13 @@ void LandDetector::Run()
 	}
 }
 
-void LandDetector::_update_params(const bool force)
+void LandDetector::_update_params()
 {
-	// check for parameter updates
-	if (_parameter_update_sub.updated() || force) {
-		// clear update
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
+	parameter_update_s param_update;
+	_parameter_update_sub.copy(&param_update);
 
-		_update_total_flight_time();
-	}
+	updateParams();
+	_update_total_flight_time();
 }
 
 void LandDetector::_update_state()

diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
@@ -97,10 +97,9 @@ class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::Schedul
 protected:
 
 	/**
-	 * Updates parameters if changes have occurred or if forced.
-	 * @var force Forces a parameter update.
+	 * Updates parameters.
 	 */
-	virtual void _update_params(const bool force = false);
+	virtual void _update_params();
 
 	/**
 	 * Updates subscribed uORB topics.
@@ -148,6 +147,7 @@ class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::Schedul
 
 	actuator_armed_s         _actuator_armed{};
 	vehicle_acceleration_s   _vehicle_acceleration{};
+
 	vehicle_land_detected_s _land_detected = {
 		.timestamp = 0,
 		.alt_max = -1.0f,
@@ -156,14 +156,11 @@ class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::Schedul
 		.maybe_landed = true,
 		.landed = true,
 	};
+
 	vehicle_local_position_s _vehicle_local_position{};
 
 	uORB::Publication<vehicle_land_detected_s> _vehicle_land_detected_pub{ORB_ID(vehicle_land_detected)};
 
-	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
-	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
-	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-
 private:
 
 	void Run() override;
@@ -179,7 +176,10 @@ class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::Schedul
 
 	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, "land_detector_cycle")};
 
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
+	uORB::Subscription _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	DEFINE_PARAMETERS_CUSTOM_PARENT(
 		ModuleParams,

diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -95,9 +95,9 @@ void MulticopterLandDetector::_update_topics()
 	_vehicle_local_position_setpoint_sub.update(&_vehicle_local_position_setpoint);
 }
 
-void MulticopterLandDetector::_update_params(const bool force)
+void MulticopterLandDetector::_update_params()
 {
-	LandDetector::_update_params(force);
+	LandDetector::_update_params();
 
 	_freefall_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _param_lndmc_ffall_ttri.get()));
 

diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
@@ -62,7 +62,7 @@ class MulticopterLandDetector : public LandDetector
 	MulticopterLandDetector();
 
 protected:
-	void _update_params(const bool force = false) override;
+	void _update_params() override;
 	void _update_topics() override;
 
 	bool _get_landed_state() override;