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land_detector: use user-defined literals for time constants

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This commit is contained in:
Beat Küng
2018-04-13 10:22:53 +02:00
committed by Lorenz Meier
parent e98919cf3c
commit 123f11fcdd
4 changed files with 22 additions and 15 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+4 -5
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@@ -62,7 +62,6 @@
*/
#include <cmath>
#include <drivers/drv_hrt.h>
#include <mathlib/mathlib.h>
#include "MulticopterLandDetector.h"
@@ -204,7 +203,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
bool MulticopterLandDetector::_get_maybe_landed_state()
{
// Time base for this function
const uint64_t now = hrt_absolute_time();
const hrt_abstime now = hrt_absolute_time();
// only trigger flight conditions if we are armed
if (!_arming.armed) {
@@ -240,7 +239,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
// if this persists for 8 seconds AND the drone is not
// falling consider it to be landed. This should even sustain
// quite acrobatic flight.
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8_s);
}
if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
@@ -293,7 +292,7 @@ float MulticopterLandDetector::_get_max_altitude()
bool MulticopterLandDetector::_has_altitude_lock()
{
return _vehicleLocalPosition.timestamp != 0 &&
hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500000 &&
hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500_ms &&
_vehicleLocalPosition.z_valid;
}
@@ -305,7 +304,7 @@ bool MulticopterLandDetector::_has_position_lock()
bool MulticopterLandDetector::_is_climb_rate_enabled()
{
bool has_updated = (_vehicleLocalPositionSetpoint.timestamp != 0)
&& (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500000);
&& (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500_ms);
return (_control_mode.flag_control_climb_rate_enabled && has_updated && PX4_ISFINITE(_vehicleLocalPositionSetpoint.vz));
}