Implement ModuleParams inheritance in the VtolLandDetector class. Req…

…uires PR #12356.
PX4 · Aug 9, 2019 · 20b7c51 · 20b7c51
1 parent 6413525
commit 20b7c51
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Showing 3 changed files with 7 additions and 19 deletions.
diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h
@@ -84,6 +84,7 @@ class MulticopterLandDetector : public LandDetector
 
 	/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
 	float _get_takeoff_throttle();
+
 	bool _has_low_thrust();
 	bool _has_minimal_thrust();
 	bool _has_altitude_lock();

diff --git a/src/modules/land_detector/VtolLandDetector.cpp b/src/modules/land_detector/VtolLandDetector.cpp
@@ -48,13 +48,11 @@ namespace land_detector
 
 VtolLandDetector::VtolLandDetector()
 {
-	_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
 }
 
 void VtolLandDetector::_update_topics()
 {
 	MulticopterLandDetector::_update_topics();
-
 	_airspeed_sub.update(&_airspeed);
 	_vehicle_status_sub.update(&_vehicle_status);
 }
@@ -92,7 +90,7 @@ bool VtolLandDetector::_get_landed_state()
 
 	// only consider airspeed if we have been in air before to avoid false
 	// detections in the case of wind on the ground
-	if (_was_in_air && (_airspeed_filtered > _params.maxAirSpeed)) {
+	if (_was_in_air && (_airspeed_filtered > _param_lndfw_airspd_max.get())) {
 		landed = false;
 	}
 
@@ -101,11 +99,4 @@ bool VtolLandDetector::_get_landed_state()
 	return landed;
 }
 
-void VtolLandDetector::_update_params()
-{
-	MulticopterLandDetector::_update_params();
-
-	param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
-}
-
 } // namespace land_detector
diff --git a/src/modules/land_detector/VtolLandDetector.h b/src/modules/land_detector/VtolLandDetector.h
@@ -56,19 +56,11 @@ class VtolLandDetector : public MulticopterLandDetector
 	VtolLandDetector();
 
 protected:
-	void _update_params() override;
 	void _update_topics() override;
 	bool _get_landed_state() override;
 	bool _get_maybe_landed_state() override;
 
 private:
-	struct {
-		param_t maxAirSpeed;
-	} _paramHandle{};
-
-	struct {
-		float maxAirSpeed;
-	} _params{};
 
 	uORB::Subscription _airspeed_sub{ORB_ID(airspeed)};
 	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
@@ -78,7 +70,11 @@ class VtolLandDetector : public MulticopterLandDetector
 
 	bool _was_in_air{false}; /**< indicates whether the vehicle was in the air in the previous iteration */
 	float _airspeed_filtered{0.0f}; /**< low pass filtered airspeed */
-};
 
+	DEFINE_PARAMETERS_CUSTOM_PARENT(
+		MulticopterLandDetector,
+		(ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd_max
+	);
+};
 
 } // namespace land_detector