fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 15:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'release_v1.0.0' of github.com:PX4/Firmware

Browse Source
This commit is contained in:
Lorenz Meier
2015-07-02 01:00:06 +02:00
parent 347e3e9a7e 10961aac0e
commit 234990fbe4
9 changed files with 91 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/MulticopterLandDetector.cpp
+8
View File
@@ -100,6 +100,14 @@ bool MulticopterLandDetector::update()
return true;
}
// return status based on armed state if no position lock is available
if (_vehicleGlobalPosition.timestamp == 0 ||
hrt_elapsed_time(&_vehicleGlobalPosition.timestamp) > 500000) {
// no position lock - not landed if armed
return !_arming.armed;
}
const uint64_t now = hrt_absolute_time();
// check if we are moving vertically
src/modules/land_detector/land_detector_params.c
+10 -10
View File
@@ -43,29 +43,29 @@
/**
* Multicopter max climb rate
*
* Maximum vertical velocity allowed to trigger a land (m/s up and down)
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.30f);
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.60f);
/**
* Multicopter max horizontal velocity
*
* Maximum horizontal velocity allowed to trigger a land (m/s)
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);
/**
* Multicopter max rotation
*
* Maximum allowed around each axis to trigger a land (degrees per second)
* Maximum allowed around each axis allowed in the landed state (degrees per second)
*
* @unit deg/s
*
@@ -76,19 +76,19 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/**
* Multicopter max throttle
*
* Maximum actuator output on throttle before triggering a land
* Maximum actuator output on throttle allowed in the landed state
*
* @min 0.1
* @max 0.5
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.15f);
/**
* Fixedwing max horizontal velocity
*
* Maximum horizontal velocity allowed to trigger a land (m/s)
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @min 0.5
* @max 10
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
/**
* Fixedwing max climb rate
*
* Maximum vertical velocity allowed to trigger a land (m/s up and down)
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @min 5
* @max 20
@@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
/**
* Airspeed max
*
* Maximum airspeed allowed to trigger a land (m/s)
* Maximum airspeed allowed in the landed state (m/s)
*
* @min 4
* @max 20