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land_detector: Reduce and detection false negatives due to estimator bias

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Using the vertical derivative estimate prevents vertical velocity offsets caused by estimation vertical velocity errors preventing the vehicle disarming.
This commit is contained in:
Dennis Mannhart
2017-12-12 12:14:24 +00:00
committed by Lorenz Meier
parent 64a06d8523
commit 26e85736a5
1 changed files with 1 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+1 -1
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@@ -197,7 +197,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// Adjust maxClimbRate if land_speed is lower than 2x maxClimbrate
float maxClimbRate = ((land_speed_threshold * 0.5f) < _params.maxClimbRate) ? (0.5f * land_speed_threshold) :
_params.maxClimbRate;
verticalMovement = fabsf(_vehicleLocalPosition.vz) > maxClimbRate;
verticalMovement = fabsf(_vehicleLocalPosition.z_deriv) > maxClimbRate;
}
// Check if we are moving horizontally.