This implementation is a baseline implementation and makes no attempt to be tamper-proof. A monotonic counter like the W25R64FV or a similar HW facility would be required to achieve this.
Ground detect: pilot want down or we are on minimum thrust by auto land but no vertical movement
-> Controller should relax x,y corrections and even ramp down desired thrust
Landed: All other conditions are eventually met
- constructor initalization fix
- set trigger time for ground contact hysteresis
- updated ground_contact_state logic
MulticopterLandDetector:
- added hysteresis for ground_contact
VtolLandDetector:
- get_ground_contact_state function that return the one form MultcopterLandDetector
FixedWingLandDetector:
- get_ground_contact_state with a return false: requires implementation
The existing orb_advert_t use thoughout the code sometimes tries
to treat it as a file descriptor and there are checks for < 0
and ::close calls on orb_advert_t types which is an invalid use
of an object pointer, which is what orb_advert_t really is.
Initially I had changed the -1 initializations to 0 but it was
suggested that this should be nullptr. That was a good recommendation
but the definition of orb_advert_t had to change to void * because
you cannot initialize a uintptr_t as nullptr.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
The calls to orb_advertise were being mishandled throughout the code.
There were ::close() calls on memory pointers, there were checks
against < 0 when it is a pointer to a object and values larger than
0x7ffffffff are valid. Some places orb_advert_t variables were
being initialized as 0 other places as -1.
The orb_advert_t type was changed to uintptr_t so the pointer value
would not be wrapped as a negative number. This was causing a failure
on ARM.
Tests for < 0 were changed to == 0 since a null pointer is the valid
representation for error, or uninitialized.
Signed-off-by: Mark Charlebois <charlebm@gmail.com>
