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Land detector: revision of the 2 stage landing mechanism

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Ground detect: pilot want down or we are on minimum thrust by auto land but no vertical movement
-> Controller should relax x,y corrections and even ramp down desired thrust
Landed: All other conditions are eventually met
This commit is contained in:
Matthias Grob
2017-01-28 16:23:04 +01:00
committed by Lorenz Meier
parent b130913090
commit 480dd0922b
3 changed files with 106 additions and 81 deletions
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src/modules/land_detector/MulticopterLandDetector.h
+6 -3
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@@ -84,7 +84,7 @@ private:
param_t maxVelocity;
param_t maxRotation;
param_t minThrottle;
param_t hoverThrottleAuto;
param_t hoverThrottle;
param_t throttleRange;
param_t minManThrottle;
param_t freefall_acc_threshold;
@@ -96,7 +96,7 @@ private:
float maxVelocity;
float maxRotation_rad_s;
float minThrottle;
float hoverThrottleAuto;
float hoverThrottle;
float throttleRange;
float minManThrottle;
float freefall_acc_threshold;
@@ -123,7 +123,10 @@ private:
uint64_t _arming_time;
/* get control mode dependent pilot throttle threshold with which we should quit landed state and take off */
float get_takeoff_throttle();
float _get_takeoff_throttle();
bool _get_position_lock_available();
bool _get_manual_control_present();
bool _get_minimal_thrust();
};