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FW land detector: expose trigger time in parameter (LNDFW_TRIG_TIME)

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-25 18:45:36 +01:00
parent 71835f57c9
commit 5161165d85
3 changed files with 17 additions and 4 deletions
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src/modules/land_detector/FixedwingLandDetector.h
+2 -3
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@@ -65,8 +65,6 @@ protected:
private:
/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr hrt_abstime LANDED_TRIGGER_TIME_US = 2_s;
static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;
uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)};
@@ -81,7 +79,8 @@ private:
(ParamFloat<px4::params::LNDFW_XYACC_MAX>) _param_lndfw_xyaccel_max,
(ParamFloat<px4::params::LNDFW_AIRSPD_MAX>) _param_lndfw_airspd,
(ParamFloat<px4::params::LNDFW_VEL_XY_MAX>) _param_lndfw_vel_xy_max,
(ParamFloat<px4::params::LNDFW_VEL_Z_MAX>) _param_lndfw_vel_z_max
(ParamFloat<px4::params::LNDFW_VEL_Z_MAX>) _param_lndfw_vel_z_max,
(ParamFloat<px4::params::LNDFW_TRIG_TIME>) _param_lndfw_trig_time
);
};