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Refactor ulanding driver to utilize ScheduledWorkQueue class inheritance #11894

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merged 2 commits into from Jul 28, 2019
Merged

Refactor ulanding driver to utilize ScheduledWorkQueue class inheritance #11894

merged 2 commits into from Jul 28, 2019

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mcsauder
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@mcsauder mcsauder commented Apr 23, 2019 •
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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

@mcsauder mcsauder mentioned this pull request Apr 23, 2019
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@mcsauder mcsauder force-pushed the ulanding_driver_work branch 4 times, most recently from 89d83e0 to 294f611 Compare April 30, 2019 16:58
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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!

@RomanBapst RomanBapst self-requested a review April 30, 2019 20:15
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RomanBapst previously approved these changes May 5, 2019
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@mcsauder Looks good as far as I can tell. It would be good if somebody could test it.

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mcsauder commented May 5, 2019

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!

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bys1123 commented May 5, 2019

I'll tell ulanding them about this change, see if they have time test on is.

@mcsauder mcsauder force-pushed the ulanding_driver_work branch 2 times, most recently from 0555d68 to 93295e5 Compare May 10, 2019 04:01
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@mcsauder mcsauder force-pushed the ulanding_driver_work branch 2 times, most recently from 4676014 to c48e2ce Compare July 10, 2019 04:33
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I finished a larger refactoring of this driver to utilize the ScheduledWorkQueue and have added that commit to this PR.

Here is a screen shot of bench testing with QGC Analyze with PX4:master:
image

Here is a screen shot of this PR:
image

@mcsauder mcsauder changed the title Migrate ulanding driver class member variable initialization to declarations, format whitespace and alphabetize/group/order var/method declarations Refactor ulanding driver to utilze ScheduledWorkQueue class inheritance Jul 10, 2019
@mcsauder mcsauder changed the title Refactor ulanding driver to utilze ScheduledWorkQueue class inheritance Refactor ulanding driver to utilize ScheduledWorkQueue class inheritance Jul 10, 2019
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@mcsauder
Migrate variable initialization from constructor list to declaration …
108aa7d 
…uniform initialization, format whitespace, alphabetize/group/order variables and methods in ulanding.cpp.
@mcsauder
Refactor the uLanding driver to utilize the ScheduledWorkQueue.
429afd0
@weekly-digest weekly-digest bot mentioned this pull request Jul 28, 2019
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@dagar dagar merged commit f432f74 into PX4:master Jul 28, 2019
@mcsauder mcsauder deleted the ulanding_driver_work branch July 30, 2019 05:21
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@dagar dagar dagar approved these changes

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