Multicopter land detector: do not update parameters every cycle #13212
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Here is a bit of data for comparison. Post flight from PR #11874: Post flight from this PR: ~46k param_get calls previous, 32 from this PR. |
mcsauder
changed the title
MaEtUgR
previously approved these changes
Oct 17, 2019
bkueng
approved these changes
Oct 18, 2019
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Describe problem solved by this pull request
In PR #11874 I inadvertently introduced updating multicopter throttle and landspeed parameters every cycle. This PR corrects that error. I think this PR also simplifies the logic a bit as well.
Test data / coverage
Test flown on a 250 quad with pixhawk 4 mini: https://review.px4.io/plot_app?log=f71fb16d-69c1-4ef7-93cd-40783eee96f8
Additional context
See feedback in PR #11874 for background.
Hi @bkueng , I think your suggestion to move the
if (_parameter_update_sub.updated())check up into theLandDetector::Run()method works nicely. Let me know if you prefer the first commit instead or if you have any other feedback. Thanks for your review!@MaEtUgR , @julianoes , let me know if you'd like to see anything different as well.
Thanks!