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Refactor ulanding driver to utilize ScheduledWorkQueue class inheritance #11894
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@RomanBapst , would you be willing to review this PR for me? I'm trying to align the distance sensor drivers (slowly) so than an inheritance hierarchy can be created and code duplication reduced. Thank you in advance! |
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@mcsauder Looks good as far as I can tell. It would be good if somebody could test it.
Thanks @RomanBapst for looking this over. I'll ask during the dev call this week to see if I can find anyone with hardware that can test it. I appreciate your time looking it over, thanks again! |
I'll tell ulanding them about this change, see if they have time test on is. |
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…uniform initialization, format whitespace, alphabetize/group/order variables and methods in ulanding.cpp.
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Describe problem solved by the proposed pull request
This PR refactors the ulanding driver to inherit from the ScheduleWorkQueue class and simplify the collect() method logic to mirror logic in the cm8jl65 driver and the example code provided by Aerotenna (uLanding manufacturer).
Describe your preferred solution
Standardizing all of the distance sensor driver variable initialization, method ordering and general style will allow for future inheritance structure work to be performed on the distance sensor driver classes, see #11977.
Describe possible alternatives
The driver could be left as-is, it is functional in PX4:master.
Additional context
See #9279, #11853, #11857, #1858, #11859, #11891, #11892, #11893, #11977
Please let me know if you have any questions on this PR. Thanks!
-Mark