land_detector: use user-defined literals for time constants

src/modules/land_detector/FixedwingLandDetector.h

@@ -42,12 +42,15 @@
 
 #pragma once
 
+#include <drivers/drv_hrt.h>
 #include <uORB/topics/airspeed.h>
 #include <uORB/topics/sensor_bias.h>
 #include <uORB/topics/vehicle_local_position.h>
 
 #include "LandDetector.h"
 
+using namespace time_literals;
+
 namespace land_detector
 {
 
@@ -67,8 +70,8 @@ class FixedwingLandDetector final : public LandDetector
 private:
 
 	/** Time in us that landing conditions have to hold before triggering a land. */
-	static constexpr uint64_t LANDED_TRIGGER_TIME_US = 2000000;
-	static constexpr uint64_t FLYING_TRIGGER_TIME_US = 0;
+	static constexpr hrt_abstime LANDED_TRIGGER_TIME_US = 2_s;
+	static constexpr hrt_abstime FLYING_TRIGGER_TIME_US = 0_us;
 
 	struct {
 		param_t maxVelocity;

src/modules/land_detector/LandDetector.cpp

@@ -47,6 +47,8 @@
 #include <drivers/drv_hrt.h>
 #include "uORB/topics/parameter_update.h"
 
+using namespace time_literals;
+
 namespace land_detector
 {
 
@@ -112,7 +114,7 @@ void LandDetector::_cycle()
 	const hrt_abstime now = hrt_absolute_time();
 
 	// publish at 1 Hz, very first time, or when the result has changed
-	if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1000000) ||
+	if ((hrt_elapsed_time(&_landDetected.timestamp) >= 1_s) ||
 	    (_landDetectedPub == nullptr) ||
 	    (_landDetected.landed != landDetected) ||
 	    (_landDetected.freefall != freefallDetected) ||
@@ -156,7 +158,7 @@ void LandDetector::_cycle()
 
 		// Schedule next cycle.
 		work_queue(HPWORK, &_work, (worker_t)&LandDetector::_cycle_trampoline, this,
-			   USEC2TICK(1000000 / LAND_DETECTOR_UPDATE_RATE_HZ));
+			   USEC2TICK(1_s / LAND_DETECTOR_UPDATE_RATE_HZ));
 
 	} else {
 		exit_and_cleanup();

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -62,7 +62,6 @@
  */
 
 #include <cmath>
-#include <drivers/drv_hrt.h>
 #include <mathlib/mathlib.h>
 
 #include "MulticopterLandDetector.h"
@@ -204,7 +203,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 bool MulticopterLandDetector::_get_maybe_landed_state()
 {
 	// Time base for this function
-	const uint64_t now = hrt_absolute_time();
+	const hrt_abstime now = hrt_absolute_time();
 
 	// only trigger flight conditions if we are armed
 	if (!_arming.armed) {
@@ -240,7 +239,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
 		// if this persists for 8 seconds AND the drone is not
 		// falling consider it to be landed. This should even sustain
 		// quite acrobatic flight.
-		return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
+		return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8_s);
 	}
 
 	if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
@@ -293,7 +292,7 @@ float MulticopterLandDetector::_get_max_altitude()
 bool MulticopterLandDetector::_has_altitude_lock()
 {
 	return _vehicleLocalPosition.timestamp != 0 &&
-	       hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500000 &&
+	       hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500_ms &&
 	       _vehicleLocalPosition.z_valid;
 }
 
@@ -305,7 +304,7 @@ bool MulticopterLandDetector::_has_position_lock()
 bool MulticopterLandDetector::_is_climb_rate_enabled()
 {
 	bool has_updated = (_vehicleLocalPositionSetpoint.timestamp != 0)
-			   && (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500000);
+			   && (hrt_elapsed_time(&_vehicleLocalPositionSetpoint.timestamp) < 500_ms);
 
 	return (_control_mode.flag_control_climb_rate_enabled && has_updated && PX4_ISFINITE(_vehicleLocalPositionSetpoint.vz));
 }

src/modules/land_detector/MulticopterLandDetector.h

@@ -44,6 +44,7 @@
 
 #include "LandDetector.h"
 
+#include <drivers/drv_hrt.h>
 #include <systemlib/param/param.h>
 #include <uORB/topics/vehicle_local_position.h>
 #include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -57,6 +58,8 @@
 #include <uORB/topics/vehicle_control_mode.h>
 #include <uORB/topics/vehicle_local_position.h>
 
+using namespace time_literals;
+
 namespace land_detector
 {
 
@@ -79,16 +82,16 @@ class MulticopterLandDetector : public LandDetector
 private:
 
 	/** Time in us that landing conditions have to hold before triggering a land. */
-	static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 300000;
+	static constexpr hrt_abstime LAND_DETECTOR_TRIGGER_TIME_US = 300_ms;
 
 	/** 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;
+	static constexpr hrt_abstime MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250_ms;
 
 	/** Time in us that ground contact condition have to hold before triggering contact ground */
-	static constexpr uint64_t GROUND_CONTACT_TRIGGER_TIME_US = 350000;
+	static constexpr hrt_abstime GROUND_CONTACT_TRIGGER_TIME_US = 350_ms;
 
 	/** Time interval in us in which wider acceptance thresholds are used after landed. */
-	static constexpr uint64_t LAND_DETECTOR_LAND_PHASE_TIME_US = 2000000;
+	static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;
 
 	/**
 	* @brief Handles for interesting parameters
@@ -137,8 +140,8 @@ class MulticopterLandDetector : public LandDetector
 	vehicle_control_mode_s				_control_mode {};
 	battery_status_s						_battery {};
 
-	uint64_t _min_trust_start{0};		///< timestamp when minimum trust was applied first
-	uint64_t _landed_time{0};
+	hrt_abstime _min_trust_start{0};		///< timestamp when minimum trust was applied first
+	hrt_abstime _landed_time{0};
 
 	/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
 	float _get_takeoff_throttle();