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Rename _accel_horz_lp -> _xy_accel_filtered, delete unneeded #includes in FixedwingLandDetector #12702

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Aug 15, 2019
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Rename _accel_horz_lp -> _xy_accel_filtered, delete unneeded #includes in FixedwingLandDetector #12702

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14 changes: 5 additions & 9 deletions src/modules/land_detector/FixedwingLandDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -39,14 +39,10 @@
* @author Julian Oes <[email protected]>
*/

#include "FixedwingLandDetector.h"

#include <cmath>

#include <px4_config.h>
#include <px4_defines.h>
#include <matrix/math.hpp>

#include "FixedwingLandDetector.h"

namespace land_detector
{

Expand Down Expand Up @@ -90,7 +86,7 @@ bool FixedwingLandDetector::_get_landed_state()

bool landDetected = false;

if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500 * 1000) {
if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500_ms) {

// Horizontal velocity complimentary filter.
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
Expand All @@ -114,10 +110,10 @@ bool FixedwingLandDetector::_get_landed_state()
const matrix::Vector3f accel{_vehicle_acceleration.xyz};
const float acc_hor = sqrtf(accel(0) * accel(0) + accel(1) * accel(1));

_accel_horz_lp = _accel_horz_lp * 0.8f + acc_hor * 0.18f;
_xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f;

// crude land detector for fixedwing
landDetected = _accel_horz_lp < _param_lndfw_xyaccel_max.get()
landDetected = _xy_accel_filtered < _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();
Expand Down
3 changes: 1 addition & 2 deletions src/modules/land_detector/FixedwingLandDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,6 @@

#pragma once

#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_acceleration.h>
Expand Down Expand Up @@ -82,10 +81,10 @@ class FixedwingLandDetector final : public LandDetector
vehicle_acceleration_s _vehicle_acceleration{};
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 _xy_accel_filtered{0.0f};

DEFINE_PARAMETERS_CUSTOM_PARENT(
LandDetector,
Expand Down