Add check_params(true) call to the LandDetector start() method. Break…

… out _update_total_flight_time() method in the LandDetector class.
PX4 · Jun 26, 2019 · d7cfebe · d7cfebe
1 parent f783982
commit d7cfebe
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Showing 2 changed files with 10 additions and 2 deletions.
diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp
@@ -71,6 +71,7 @@ LandDetector::~LandDetector()
 
 void LandDetector::start()
 {
+	_check_params(true);
 	ScheduleOnInterval(LAND_DETECTOR_UPDATE_INTERVAL);
 }
 
@@ -154,8 +155,7 @@ void LandDetector::_check_params(const bool force)
 
 	if (_param_update_sub.update(&param_update) || force) {
 		_update_params();
-		_total_flight_time = static_cast<uint64_t>(_param_total_flight_time_high.get()) << 32;
-		_total_flight_time |= _param_total_flight_time_low.get();
+		_update_total_flight_time();
 	}
 }
 
@@ -187,4 +187,10 @@ void LandDetector::_update_state()
 	}
 }
 
+void LandDetector::_update_total_flight_time()
+{
+	_total_flight_time = static_cast<uint64_t>(_param_total_flight_time_high.get()) << 32;
+	_total_flight_time |= _param_total_flight_time_low.get();
+}
+
 } // namespace land_detector
diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h
@@ -163,6 +163,8 @@ class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::Schedul
 
 	void _update_state();
 
+	void _update_total_flight_time();
+
 	bool _previous_armed_state{false}; ///< stores the previous actuator_armed.armed state
 
 	uint64_t _total_flight_time{0}; ///< in microseconds