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land detector move hysteresis constants into FW and MC

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Daniel Agar
2017-08-31 22:49:44 -04:00
parent fd8a5644e8
commit 90819b2852
6 changed files with 25 additions and 18 deletions
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src/modules/land_detector/MulticopterLandDetector.h
+12
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@@ -82,6 +82,18 @@ protected:
virtual float _get_max_altitude() override;
private:
/** Time in us that landing conditions have to hold before triggering a land. */
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 300000;
/** Time in us that almost landing conditions have to hold before triggering almost landed . */
static constexpr uint64_t MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250000;
/** Time in us that ground contact condition have to hold before triggering contact ground */
static constexpr uint64_t GROUND_CONTACT_TRIGGER_TIME_US = 350000;
/** Time interval in us in which wider acceptance thresholds are used after landed. */
static constexpr uint64_t LAND_DETECTOR_LAND_PHASE_TIME_US = 2000000;
/**
* @brief Handles for interesting parameters
**/