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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/MulticopterLandDetector.cpp
+3 -6
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@@ -80,9 +80,6 @@ MulticopterLandDetector::MulticopterLandDetector()
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.useHoverThrustEstimate = param_find("MPC_USE_HTE");
_paramHandle.hoverThrottle = param_find("MPC_THR_HOVER");
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
_set_hysteresis_factor(1);
}
void MulticopterLandDetector::_update_topics()
@@ -370,9 +367,9 @@ bool MulticopterLandDetector::_is_close_to_ground()
void MulticopterLandDetector::_set_hysteresis_factor(const int factor)
{
_ground_contact_hysteresis.set_hysteresis_time_from(false, GROUND_CONTACT_TRIGGER_TIME_US * factor);
_landed_hysteresis.set_hysteresis_time_from(false, LAND_DETECTOR_TRIGGER_TIME_US * factor);
_maybe_landed_hysteresis.set_hysteresis_time_from(false, MAYBE_LAND_DETECTOR_TRIGGER_TIME_US * factor);
_ground_contact_hysteresis.set_hysteresis_time_from(false, _param_lndmc_trig_time.get() * 1_s / 3 * factor);
_landed_hysteresis.set_hysteresis_time_from(false, _param_lndmc_trig_time.get() * 1_s / 3 * factor);
_maybe_landed_hysteresis.set_hysteresis_time_from(false, _param_lndmc_trig_time.get() * 1_s / 3 * factor);
_freefall_hysteresis.set_hysteresis_time_from(false, FREEFALL_TRIGGER_TIME_US);
}