Refactor the LandDetector class to

 - Reduce duplicate code in LandDetector _check_params() method.
 - Standardize naming cases.
 - Implement DEFINE_PARAMETERS() macro.

src/modules/land_detector/LandDetector.cpp

@@ -54,17 +54,14 @@ namespace land_detector
 {
 
 LandDetector::LandDetector() :
-	ScheduledWorkItem(px4::wq_configurations::hp_default),
-	_cycle_perf(perf_alloc(PC_ELAPSED, "land_detector_cycle"))
+	ModuleParams(nullptr),
+	ScheduledWorkItem(px4::wq_configurations::hp_default)
 {
 	_landDetected.timestamp = hrt_absolute_time();
 	_landDetected.freefall = false;
 	_landDetected.landed = true;
 	_landDetected.ground_contact = false;
 	_landDetected.maybe_landed = false;
-
-	_p_total_flight_time_high = param_find("LND_FLIGHT_T_HI");
-	_p_total_flight_time_low = param_find("LND_FLIGHT_T_LO");
 }
 
 LandDetector::~LandDetector()
@@ -81,8 +78,8 @@ void LandDetector::Run()
 {
 	perf_begin(_cycle_perf);
 
-	_check_params(false);
-	_armingSub.update(&_arming);
+	_check_params();
+	_actuator_armed_sub.update(&_arming);
 	_update_topics();
 	_update_state();
 
@@ -98,7 +95,7 @@ void LandDetector::Run()
 
 	// publish at 1 Hz, very first time, or when the result has changed
 	if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1_s) ||
-	    (_landDetectedPub == nullptr) ||
+	    (_land_detected_pub == nullptr) ||
 	    (_landDetected.landed != landDetected) ||
 	    (_landDetected.freefall != freefallDetected) ||
 	    (_landDetected.maybe_landed != maybe_landedDetected) ||
@@ -120,22 +117,28 @@ void LandDetector::Run()
 		_landDetected.in_ground_effect = in_ground_effect;
 
 		int instance;
-		orb_publish_auto(ORB_ID(vehicle_land_detected), &_landDetectedPub, &_landDetected,
+		orb_publish_auto(ORB_ID(vehicle_land_detected), &_land_detected_pub, &_landDetected,
 				 &instance, ORB_PRIO_DEFAULT);
 	}
 
 	// set the flight time when disarming (not necessarily when landed, because all param changes should
 	// happen on the same event and it's better to set/save params while not in armed state)
-	if (_takeoff_time != 0 && !_arming.armed && _previous_arming_state) {
+	if (_takeoff_time != 0 && !_arming.armed && _previous_armed_state) {
 		_total_flight_time += now - _takeoff_time;
 		_takeoff_time = 0;
+
 		uint32_t flight_time = (_total_flight_time >> 32) & 0xffffffff;
-		param_set_no_notification(_p_total_flight_time_high, &flight_time);
+
+		_param_total_flight_time_high.set(flight_time);
+		_param_total_flight_time_high.commit_no_notification();
+
 		flight_time = _total_flight_time & 0xffffffff;
-		param_set_no_notification(_p_total_flight_time_low, &flight_time);
+
+		_param_total_flight_time_low.set(flight_time);
+		_param_total_flight_time_low.commit_no_notification();
 	}
 
-	_previous_arming_state = _arming.armed;
+	_previous_armed_state = _arming.armed;
 
 	perf_end(_cycle_perf);
 
@@ -144,17 +147,15 @@ void LandDetector::Run()
 		exit_and_cleanup();
 	}
 }
-void LandDetector::_check_params(const bool force)
+
+void LandDetector::_check_params()
 {
-	parameter_update_s paramUpdate;
+	parameter_update_s param_update;
 
-	if (_parameterSub.update(&paramUpdate) || force) {
+	if (_param_update_sub.update(&param_update)) {
 		_update_params();
-		uint32_t flight_time;
-		param_get(_p_total_flight_time_high, (int32_t *)&flight_time);
-		_total_flight_time = ((uint64_t)flight_time) << 32;
-		param_get(_p_total_flight_time_low, (int32_t *)&flight_time);
-		_total_flight_time |= 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();
 	}
 }
 

src/modules/land_detector/LandDetector.h

@@ -43,6 +43,7 @@
 #pragma once
 
 #include <px4_module.h>
+#include <px4_module_params.h>
 #include <lib/hysteresis/hysteresis.h>
 #include <parameters/param.h>
 #include <perf/perf_counter.h>
@@ -57,7 +58,7 @@ using namespace time_literals;
 namespace land_detector
 {
 
-class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
+class LandDetector : public ModuleBase<LandDetector>, ModuleParams, px4::ScheduledWorkItem
 {
 public:
 	enum class LandDetectionState {
@@ -71,7 +72,6 @@ class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
 	LandDetector();
 	virtual ~LandDetector();
 
-	static int task_spawn(int argc, char *argv[]);
 
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[])
@@ -88,27 +88,26 @@ class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
 	/**
 	 * @return current state.
 	 */
-	LandDetectionState get_state() const
-	{
-		return _state;
-	}
+	LandDetectionState get_state() const { return _state; }
 
 	/**
 	 * Get the work queue going.
 	 */
 	void start();
 
+	static int task_spawn(int argc, char *argv[]);
+
 protected:
 
 	/**
-	 * Update uORB topics.
+	 * Update parameters.
 	 */
-	virtual void _update_topics() = 0;
+	virtual void _update_params() = 0;
 
 	/**
-	 * Update parameters.
+	 * Update uORB topics.
 	 */
-	virtual void _update_params() = 0;
+	virtual void _update_topics() = 0;
 
 	/**
 	 * @return true if UAV is in a landed state.
@@ -143,7 +142,7 @@ class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
 	/** Run main land detector loop at this interval. */
 	static constexpr uint32_t LAND_DETECTOR_UPDATE_INTERVAL = 20_ms;
 
-	orb_advert_t _landDetectedPub{nullptr};
+	orb_advert_t _land_detected_pub{nullptr};
 	vehicle_land_detected_s _landDetected{};
 
 	LandDetectionState _state{LandDetectionState::LANDED};
@@ -154,26 +153,33 @@ class LandDetector : public ModuleBase<LandDetector>, px4::ScheduledWorkItem
 	systemlib::Hysteresis _ground_contact_hysteresis{true};
 	systemlib::Hysteresis _ground_effect_hysteresis{false};
 
-	struct actuator_armed_s	_arming {};
+	actuator_armed_s _arming {};
 
 private:
-	void Run() override;
 
-	void _check_params(bool force = false);
+	void _check_params();
+
+	void Run() override;
 
 	void _update_state();
 
-	param_t _p_total_flight_time_high{PARAM_INVALID};
-	param_t _p_total_flight_time_low{PARAM_INVALID};
+	bool _previous_armed_state{false}; ///< stores the previous actuator_armed.armed state
+
+	uint32_t _measure_interval{LAND_DETECTOR_UPDATE_INTERVAL};
+
 	uint64_t _total_flight_time{0}; ///< in microseconds
+
 	hrt_abstime _takeoff_time{0};
 
-	perf_counter_t	_cycle_perf;
+	perf_counter_t _cycle_perf{(perf_alloc(PC_ELAPSED, "land_detector_cycle"))};
 
-	bool _previous_arming_state{false}; ///< stores the previous _arming.armed state
+	uORB::Subscription _actuator_armed_sub{ORB_ID(actuator_armed)};
+	uORB::Subscription _param_update_sub{ORB_ID(parameter_update)};
 
-	uORB::Subscription _parameterSub{ORB_ID(parameter_update)};
-	uORB::Subscription _armingSub{ORB_ID(actuator_armed)};
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::LND_FLIGHT_T_HI>) _param_total_flight_time_high,
+		(ParamInt<px4::params::LND_FLIGHT_T_LO>) _param_total_flight_time_low
+	);
 };
 
 } // namespace land_detector