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MulticopterLandDetector: Make land detection time configurable

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The tree stages used arbitrary 350, 250 300ms totally 900ms
So this changes it to each stage to a third of the parameter.
Default it is 1 second -> 333ms per stage.
This commit is contained in:
Matthias Grob
2021-05-04 16:43:33 +02:00
parent 269ce07cb5
commit 2e292abfff
7 changed files with 26 additions and 27 deletions
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src/modules/land_detector/LandDetector.h
-2
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@@ -173,8 +173,6 @@ private:
hrt_abstime _takeoff_time{0};
hrt_abstime _total_flight_time{0}; ///< total vehicle flight time in microseconds
bool _high_hysteresis_active{false};
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
uORB::Publication<vehicle_land_detected_s> _vehicle_land_detected_pub{ORB_ID(vehicle_land_detected)};