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Merged release_v1.0.0 branch into master

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Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+2 -2
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@@ -85,12 +85,12 @@ bool FixedwingLandDetector::update()
bool landDetected = false;
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
float val = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
if (isfinite(val)) {
_velocity_xy_filtered = val;
}
val = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicleLocalPosition.vz);
if (isfinite(val)) {
_velocity_z_filtered = val;
src/modules/land_detector/land_detector_params.c
+1 -1
View File
@@ -96,7 +96,7 @@ PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 4.0f);
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
/**
* Fixedwing max climb rate