dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mc_pos_control: use time literals everywhere, @bkueng review input

This commit is contained in:
Matthias Grob 2018-12-04 11:24:03 +01:00 committed by Beat Küng
parent 096d7da4b9
commit e69049ec41
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/mc_pos_control/mc_pos_control_main.cpp
View File

@ -164,11 +164,11 @@ private:
bool _in_failsafe = false; /**< true if failsafe was entered within current cycle */
/** Timeout in us for trajectory data to get considered invalid */
static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500000;
static constexpr uint64_t TRAJECTORY_STREAM_TIMEOUT_US = 500_ms;
/** number of tries before switching to a failsafe flight task */
static constexpr int NUM_FAILURE_TRIES = 10;
/** If Flighttask fails, keep 0.2 seconds the current setpoint before going into failsafe land */
static constexpr uint64_t LOITER_TIME_BEFORE_DESCEND = 200000;
static constexpr uint64_t LOITER_TIME_BEFORE_DESCEND = 200_ms;
/** During smooth-takeoff, below ALTITUDE_THRESHOLD the yaw-control is turned off ant tilt is limited */
static constexpr float ALTITUDE_THRESHOLD = 0.3f;
@ -364,7 +364,7 @@ MulticopterPositionControl::warn_rate_limited(const char *string)
{
hrt_abstime now = hrt_absolute_time();
if (now - _last_warn > 200000) {
if (now - _last_warn > 200_ms) {
PX4_WARN("%s", string);
_last_warn = now;
}
@ -393,7 +393,7 @@ MulticopterPositionControl::parameters_update(bool force)
_land_speed.set(math::min(_land_speed.get(), _vel_max_down.get()));
// set trigger time for arm hysteresis
_arm_hysteresis.set_hysteresis_time_from(false, (int)(MPC_IDLE_TKO.get() * 1000000.0f));
_arm_hysteresis.set_hysteresis_time_from(false, (int)(MPC_IDLE_TKO.get() * (float)1_s));
if (_wv_controller != nullptr) {
_wv_controller->update_parameters();