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land_detector: use user-defined literals for time constants

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This commit is contained in:
Beat Küng
2018-04-14 13:45:57 +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.h
+9 -6
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@@ -44,6 +44,7 @@
#include "LandDetector.h"
#include <drivers/drv_hrt.h>
#include <systemlib/param/param.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -57,6 +58,8 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_local_position.h>
using namespace time_literals;
namespace land_detector
{
@@ -79,16 +82,16 @@ protected:
private:
/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 300000;
static constexpr hrt_abstime LAND_DETECTOR_TRIGGER_TIME_US = 300_ms;
/** Time in us that almost landing conditions have to hold before triggering almost landed . */
static constexpr uint64_t MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250000;
static constexpr hrt_abstime MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms;
/** Time in us that ground contact condition have to hold before triggering contact ground */
static constexpr uint64_t GROUND_CONTACT_TRIGGER_TIME_US = 350000;
static constexpr hrt_abstime GROUND_CONTACT_TRIGGER_TIME_US = 350_ms;
/** Time interval in us in which wider acceptance thresholds are used after landed. */
static constexpr uint64_t LAND_DETECTOR_LAND_PHASE_TIME_US = 2000000;
static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;
/**
* @brief Handles for interesting parameters
@@ -137,8 +140,8 @@ private:
vehicle_control_mode_s _control_mode {};
battery_status_s _battery {};
uint64_t _min_trust_start{0}; ///< timestamp when minimum trust was applied first
uint64_t _landed_time{0};
hrt_abstime _min_trust_start{0}; ///< timestamp when minimum trust was applied first
hrt_abstime _landed_time{0};
/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
float _get_takeoff_throttle();