land_detector: Implement ModuleParams inheritance in the FixedwingLan…

…dDetector class.

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -51,30 +51,25 @@ namespace land_detector
 
 FixedwingLandDetector::FixedwingLandDetector()
 {
-	_paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX");
-	_paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX");
-	_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
-	_paramHandle.maxXYAccel = param_find("LNDFW_XYACC_MAX");
-
 	// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
 	_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
-
 	_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
 }
 
 void FixedwingLandDetector::_update_topics()
 {
-	_airspeedSub.update(&_airspeed);
+	_airspeed_sub.update(&_airspeed);
 	_sensor_bias_sub.update(&_sensor_bias);
 	_vehicle_local_position_sub.update(&_vehicle_local_position);
 }
 
 void FixedwingLandDetector::_update_params()
 {
-	param_get(_paramHandle.maxVelocity, &_params.maxVelocity);
-	param_get(_paramHandle.maxClimbRate, &_params.maxClimbRate);
-	param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
-	param_get(_paramHandle.maxXYAccel, &_params.maxXYAccel);
+	parameter_update_s param_update;
+
+	if (_param_update_sub.update(&param_update)) {
+		_update_params();
+	}
 }
 
 float FixedwingLandDetector::_get_max_altitude()
@@ -96,15 +91,15 @@ bool FixedwingLandDetector::_get_landed_state()
 
 	if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500 * 1000) {
 
-		// horizontal velocity
+		// Horizontal velocity complimentary filter.
 		float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
 				_vehicle_local_position.vy * _vehicle_local_position.vy);
 
 		if (PX4_ISFINITE(val)) {
 			_velocity_xy_filtered = val;
 		}
 
-		// vertical velocity
+		// Vertical velocity complimentary filter.
 		val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicle_local_position.vz);
 
 		if (PX4_ISFINITE(val)) {
@@ -113,17 +108,18 @@ bool FixedwingLandDetector::_get_landed_state()
 
 		_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
 
-		// a leaking lowpass prevents biases from building up, but
-		// gives a mostly correct response for short impulses
+		// A leaking lowpass prevents biases from building up, but
+		// gives a mostly correct response for short impulses.
 		const float acc_hor = sqrtf(_sensor_bias.accel_x * _sensor_bias.accel_x +
 					    _sensor_bias.accel_y * _sensor_bias.accel_y);
+
 		_accel_horz_lp = _accel_horz_lp * 0.8f + acc_hor * 0.18f;
 
 		// crude land detector for fixedwing
-		landDetected = _velocity_xy_filtered < _params.maxVelocity
-			       && _velocity_z_filtered < _params.maxClimbRate
-			       && _airspeed_filtered < _params.maxAirSpeed
-			       && _accel_horz_lp < _params.maxXYAccel;
+		landDetected = _accel_horz_lp           < _param_lndfw_xyaccel_max.get()
+			       && _airspeed_filtered    < _param_lndfw_airspd.get()
+			       && _velocity_xy_filtered < _param_lndfw_vel_xy_max.get()
+			       && _velocity_z_filtered  < _param_lndfw_vel_z_max.get();
 
 	} else {
 		// Control state topic has timed out and we need to assume we're landed.

src/modules/land_detector/FixedwingLandDetector.h

@@ -73,32 +73,28 @@ class FixedwingLandDetector final : public LandDetector
 	static constexpr hrt_abstime LANDED_TRIGGER_TIME_US = 2_s;
 	static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;
 
-	struct {
-		param_t maxVelocity;
-		param_t maxClimbRate;
-		param_t maxAirSpeed;
-		param_t maxXYAccel;
-	} _paramHandle{};
-
-	struct {
-		float maxVelocity;
-		float maxClimbRate;
-		float maxAirSpeed;
-		float maxXYAccel;
-	} _params{};
-
-	uORB::Subscription _airspeedSub{ORB_ID(airspeed)};
+	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
+	uORB::Subscription _param_update_sub{ORB_ID(parameter_update)};
 	uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
-	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position});
+	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
 
 	airspeed_s _airspeed{};
 	sensor_bias_s _sensor_bias{};
 	vehicle_local_position_s _vehicle_local_position{};
 
+	float _accel_horz_lp{0.0f};
+	float _airspeed_filtered{0.0f};
 	float _velocity_xy_filtered{0.0f};
 	float _velocity_z_filtered{0.0f};
-	float _airspeed_filtered{0.0f};
-	float _accel_horz_lp{0.0f};
+
+	DEFINE_PARAMETERS_CUSTOM_PARENT(
+		LandDetector,
+		(ParamFloat<px4::params::LNDFW_XYACC_MAX>)  _param_lndfw_xyaccel_max,
+		(ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd,
+		(ParamFloat<px4::params::LNDFW_VEL_XY_MAX>) _param_lndfw_vel_xy_max,
+		(ParamFloat<px4::params::LNDFW_VEL_Z_MAX>)  _param_lndfw_vel_z_max
+	);
+
 };
 
 } // namespace land_detector

src/modules/land_detector/LandDetector.h

@@ -176,7 +176,8 @@ class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::Schedul
 	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
 	uORB::Subscription _param_update_sub{ORB_ID(parameter_update)};
 
-	DEFINE_PARAMETERS(
+	DEFINE_PARAMETERS_CUSTOM_PARENT(
+		ModuleParams,
 		(ParamInt<px4::params::LND_FLIGHT_T_HI>) _param_total_flight_time_high,
 		(ParamInt<px4::params::LND_FLIGHT_T_LO>) _param_total_flight_time_low
 	);