From 3183cbda908dddc8aa5052397e20c36fb0ce5b48 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 22 Feb 2017 14:19:42 +0100 Subject: [PATCH] land_detector: manual land detection stick throshold less strict Even for well calibrated RC sticks 5% stick movement is a too small margin for the end user that might not land because of this. 15% is still clearly restricting the stick far down. --- src/modules/land_detector/MulticopterLandDetector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index 506dbfee02..7c1c191dab 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -158,7 +158,7 @@ bool MulticopterLandDetector::_get_ground_contact_state() // Check if user commands throttle and if so, report no ground contact based on // the user intent to take off (even if the system might physically still have // ground contact at this point). - const bool manual_control_idle = (_has_manual_control_present() && _manual.z < 0.05f); + const bool manual_control_idle = (_has_manual_control_present() && _manual.z < 0.15f); const bool manual_control_idle_or_auto = manual_control_idle || !_control_mode.flag_control_manual_enabled; // Widen acceptance thresholds for landed state right after arming