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ported land detector

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tumbili
2015-06-26 15:01:17 +02:00
parent 3defabfbea
commit 40cc11a5ed
2 changed files with 25 additions and 18 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+2 -2
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@@ -87,12 +87,12 @@ bool FixedwingLandDetector::update()
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
float val = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
if (isfinite(val)) {
if (PX4_ISFINITE(val)) {
_velocity_xy_filtered = val;
}
val = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
if (isfinite(val)) {
if (PX4_ISFINITE(val)) {
_velocity_z_filtered = val;
}
}