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Wind Estimator: use time_literals

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-22 17:00:35 +02:00
parent cad7851774
commit 3ad901e51d
2 changed files with 6 additions and 4 deletions
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src/lib/wind_estimator/WindEstimator.cpp
+4 -4
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@@ -104,7 +104,7 @@ WindEstimator::update(uint64_t time_now)
_wind_estimator_reset = false;
// run covariance prediction at 1Hz
if (time_now - _time_last_update < 1000 * 1000 || _time_last_update == 0) {
if (time_now - _time_last_update < 1_s || _time_last_update == 0) {
if (_time_last_update == 0) {
_time_last_update = time_now;
}
@@ -149,7 +149,7 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
}
// don't fuse faster than 10Hz
if (time_now - _time_last_airspeed_fuse < 100 * 1000) {
if (time_now - _time_last_airspeed_fuse < 100_ms) {
return;
}
@@ -228,7 +228,7 @@ WindEstimator::fuse_beta(uint64_t time_now, const matrix::Vector3f &velI, const
}
// don't fuse faster than 10Hz
if (time_now - _time_last_beta_fuse < 100 * 1000) {
if (time_now - _time_last_beta_fuse < 100_ms) {
return;
}
@@ -362,7 +362,7 @@ WindEstimator::check_if_meas_is_rejected(uint64_t time_now, float innov, float i
time_meas_rejected = 0;
}
reinit_filter = time_now - time_meas_rejected > 5 * 1000 * 1000 && time_meas_rejected != 0;
reinit_filter = time_now - time_meas_rejected > 5_s && time_meas_rejected != 0;
return time_meas_rejected != 0;
}
src/lib/wind_estimator/WindEstimator.hpp
+2
View File
@@ -41,6 +41,8 @@
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
using namespace time_literals;
class WindEstimator
{
public: