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

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

src/modules/land_detector/FixedwingLandDetector.cpp

@@ -47,7 +47,7 @@ namespace land_detector
 FixedwingLandDetector::FixedwingLandDetector()
 {
 	// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
-	_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
+	_landed_hysteresis.set_hysteresis_time_from(false, _param_lndfw_trig_time.get() * 1_s);
 	_landed_hysteresis.set_hysteresis_time_from(true, FLYING_TRIGGER_TIME_US);
 }
 

src/modules/land_detector/FixedwingLandDetector.h

@@ -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
 	);
 };
 

src/modules/land_detector/land_detector_params_fw.c

@@ -88,3 +88,17 @@ PARAM_DEFINE_FLOAT(LNDFW_XYACC_MAX, 8.0f);
  * @group Land Detector
  */
 PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 6.00f);
+
+/**
+ * Fixed-wing land detection trigger time
+ *
+ * Time the land conditions (speeds and acceleration) have to be satisfied to detect a landing.
+ *
+ * @unit s
+ * @min 0.1
+ * @decimal 1
+ *
+ * @reboot_required true
+ * @group Land Detector
+ */
+PARAM_DEFINE_FLOAT(LNDFW_TRIG_TIME, 2.f);