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VtolLandDetector add airspeed finite check

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Daniel Agar
2018-03-26 09:42:50 -04:00
parent fda2edb7c4
commit 25300a6b11
1 changed files with 5 additions and 3 deletions
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src/modules/land_detector/VtolLandDetector.cpp
+5 -3
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@@ -88,8 +88,10 @@ bool VtolLandDetector::_get_landed_state()
bool landed = MulticopterLandDetector::_get_landed_state();
// for vtol we additionally consider airspeed
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000 && _airspeed.confidence > 0.99f
&& PX4_ISFINITE(_airspeed.indicated_airspeed_m_s)) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.indicated_airspeed_m_s;
} else {
// if airspeed does not update, set it to zero and rely on multicopter land detector
@@ -98,7 +100,7 @@ bool VtolLandDetector::_get_landed_state()
// only consider airspeed if we have been in air before to avoid false
// detections in the case of wind on the ground
if (_was_in_air && _airspeed_filtered > _params.maxAirSpeed) {
if (_was_in_air && (_airspeed_filtered > _params.maxAirSpeed)) {
landed = false;
}