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MC LandDetector: add constant (0.3) for vz threshold for in_descend flag

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-01 18:35:54 +01:00
parent 4e74473932
commit 06bf60672b
2 changed files with 4 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+1 -1
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@@ -202,7 +202,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) { if (_trajectory_setpoint_sub.update(&trajectory_setpoint)) {
// Setpoints can be NAN // Setpoints can be NAN
_in_descend = PX4_ISFINITE(trajectory_setpoint.velocity[2]) _in_descend = PX4_ISFINITE(trajectory_setpoint.velocity[2])
&& (trajectory_setpoint.velocity[2] > FLT_EPSILON); && (trajectory_setpoint.velocity[2] > DESCENT_TRAJECTORY_VZ_THRESHOLD);
} }
// ground contact requires commanded descent until landed // ground contact requires commanded descent until landed
src/modules/land_detector/MulticopterLandDetector.h
+3
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@@ -87,6 +87,9 @@ private:
/** Distance above ground below which entering ground contact state is possible when distance to ground is available. */ /** Distance above ground below which entering ground contact state is possible when distance to ground is available. */
static constexpr float DIST_FROM_GROUND_THRESHOLD = 1.0f; static constexpr float DIST_FROM_GROUND_THRESHOLD = 1.0f;
/** Down velocity threshold for setting "in_descend" flag */
static constexpr float DESCENT_TRAJECTORY_VZ_THRESHOLD = 0.3f;
/** Handles for interesting parameters. **/ /** Handles for interesting parameters. **/
struct { struct {
param_t minThrottle; param_t minThrottle;