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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.h
+1 -9
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@@ -87,15 +87,6 @@ private:
/** Time in us that freefall has to hold before triggering freefall */
static constexpr hrt_abstime FREEFALL_TRIGGER_TIME_US = 300_ms;
/** Time in us that ground contact condition have to hold before triggering contact ground */
static constexpr hrt_abstime GROUND_CONTACT_TRIGGER_TIME_US = 350_ms;
/** Time in us that almost landing conditions have to hold before triggering almost landed . */
static constexpr hrt_abstime MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms;
/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr hrt_abstime LAND_DETECTOR_TRIGGER_TIME_US = 300_ms;
/** Time interval in us in which wider acceptance thresholds are used after landed. */
static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;
@@ -148,6 +139,7 @@ private:
DEFINE_PARAMETERS_CUSTOM_PARENT(
LandDetector,
(ParamFloat<px4::params::LNDMC_TRIG_TIME>) _param_lndmc_trig_time,
(ParamFloat<px4::params::LNDMC_ALT_MAX>) _param_lndmc_alt_max,
(ParamFloat<px4::params::LNDMC_ROT_MAX>) _param_lndmc_rot_max,
(ParamFloat<px4::params::LNDMC_XY_VEL_MAX>) _param_lndmc_xy_vel_max,