Land detectorr: Fix units, complete meta data for decent user representation

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -70,7 +70,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
 	_paramHandle.maxClimbRate = param_find("LNDMC_Z_VEL_MAX");
 	_paramHandle.maxThrottle = param_find("LNDMC_THR_MAX");
 	_paramHandle.acc_threshold_m_s2 = param_find("LNDMC_FFALL_THR");
-	_paramHandle.ff_trigger_time_ms = param_find("LNDMC_FFALL_TRIG");
+	_paramHandle.ff_trigger_time = param_find("LNDMC_FFALL_TTRI");
 }
 
 void MulticopterLandDetector::initialize()
@@ -139,7 +139,7 @@ bool MulticopterLandDetector::get_freefall_state()
 		return false;
 	}
 
-	return (now - _freefallTimer) / 1000 > _params.ff_trigger_time_ms;
+	return (now - _freefallTimer) / 1000000.0f > _params.ff_trigger_time;
 }
 
 bool MulticopterLandDetector::get_landed_state()
@@ -225,7 +225,7 @@ void MulticopterLandDetector::updateParameterCache(const bool force)
 		_params.maxRotation_rad_s = math::radians(_params.maxRotation_rad_s);
 		param_get(_paramHandle.maxThrottle, &_params.maxThrottle);
 		param_get(_paramHandle.acc_threshold_m_s2, &_params.acc_threshold_m_s2);
-		param_get(_paramHandle.ff_trigger_time_ms, &_params.ff_trigger_time_ms);
+		param_get(_paramHandle.ff_trigger_time, &_params.ff_trigger_time);
 	}
 }
 

src/modules/land_detector/MulticopterLandDetector.h

@@ -103,7 +103,7 @@ private:
 		param_t maxRotation;
 		param_t maxThrottle;
 		param_t acc_threshold_m_s2;
-		param_t ff_trigger_time_ms;
+		param_t ff_trigger_time;
 	}		_paramHandle;
 
 	struct {
@@ -112,7 +112,7 @@ private:
 		float maxRotation_rad_s;
 		float maxThrottle;
 		float acc_threshold_m_s2;
-		uint32_t ff_trigger_time_ms;
+		float ff_trigger_time;
 	} _params;
 
 private:

src/modules/land_detector/land_detector_params.c

@@ -44,6 +44,7 @@
  * Maximum vertical velocity allowed in the landed state (m/s up and down)
  *
  * @unit m/s
+ * @decimal 1
  *
  * @group Land Detector
  */
@@ -55,6 +56,7 @@ PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.70f);
  * Maximum horizontal velocity allowed in the landed state (m/s)
  *
  * @unit m/s
+ * @decimal 1
  *
  * @group Land Detector
  */
@@ -66,6 +68,7 @@ PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);
  * Maximum allowed angular velocity around each axis allowed in the landed state.
  *
  * @unit deg/s
+ * @decimal 1
  *
  * @group Land Detector
  */
@@ -76,8 +79,10 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
  *
  * Maximum actuator output on throttle allowed in the landed state
  *
+ * @unit norm
  * @min 0.1
  * @max 0.5
+ * @decimal 2
  *
  * @group Land Detector
  */
@@ -88,8 +93,10 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.15f);
  *
  * Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
  *
+ * @unit m/s^2
  * @min 0.1
  * @max 10
+ * @decimal 2
  *
  * @group Land Detector
  */
@@ -101,12 +108,14 @@ PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
  * Milliseconds that freefall conditions have to hold before triggering a freefall.
  * Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
  *
- * @min 20
- * @max 5000
+ * @unit s
+ * @min 0.02
+ * @max 5
+ * @decimal 2
  *
  * @group Land Detector
  */
-PARAM_DEFINE_INT32(LNDMC_FFALL_TRIG, 300);
+PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
 
 /**
  * Fixedwing max horizontal velocity
@@ -116,6 +125,7 @@ PARAM_DEFINE_INT32(LNDMC_FFALL_TRIG, 300);
  * @unit m/s
  * @min 0.5
  * @max 10
+ * @decimal 1
  *
  * @group Land Detector
  */
@@ -129,6 +139,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
  * @unit m/s
  * @min 5
  * @max 20
+ * @decimal 1
  *
  * @group Land Detector
  */
@@ -142,6 +153,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
  * @unit m/s
  * @min 2
  * @max 10
+ * @decimal 1
  *
  * @group Land Detector
  */
@@ -155,6 +167,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);
  * @unit m/s
  * @min 4
  * @max 20
+ * @decimal 1
  *
  * @group Land Detector
  */