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land_detector: added parameter for manual position stick takeoff threshold

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Matthias Grob
2017-02-27 16:30:37 +01:00
committed by Lorenz Meier
parent 9c2dd48814
commit 2b90224075
3 changed files with 19 additions and 2 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+3 -2
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@@ -82,6 +82,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
_paramHandle.freefall_trigger_time = param_find("LNDMC_FFALL_TTRI");
_paramHandle.manual_stick_down_threshold = param_find("LNDMC_MAN_DWNTHR");
_paramHandle.altitude_max = param_find("LNDMC_ALT_MAX");
_paramHandle.manual_stick_up_position_takeoff_threshold = param_find("LNDMC_POS_UPTHR");
}
void MulticopterLandDetector::_initialize_topics()
@@ -125,7 +126,7 @@ void MulticopterLandDetector::_update_params()
_freefall_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _params.freefall_trigger_time));
param_get(_paramHandle.manual_stick_down_threshold, &_params.manual_stick_down_threshold);
param_get(_paramHandle.altitude_max, &_params.altitude_max);
param_get(_paramHandle.manual_stick_up_position_takeoff_threshold, &_params.manual_stick_up_position_takeoff_threshold);
}
@@ -273,7 +274,7 @@ float MulticopterLandDetector::_get_takeoff_throttle()
/* Should be above 0.5 because below that we do not gain altitude and won't take off.
* Also it should be quite high such that we don't accidentally take off when using
* a spring loaded throttle and have a useful vertical speed to start with. */
return 0.75f;
return _params.manual_stick_up_position_takeoff_threshold;
}
/* Manual/attitude mode */