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MC LandDetector: remove 2s phase after not maybe landed to still increase thresholds

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I don't see where this is necessary. During takeoff, the maybe landed flag should
only get cleared once system is about to takeoff, and thus well after the spool up
is complete (for which the higher thresholds are meant in this case).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-01 18:35:54 +01:00
parent 91adb4c9e0
commit 4e74473932
2 changed files with 5 additions and 14 deletions
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src/modules/land_detector/MulticopterLandDetector.h
-3
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@@ -84,9 +84,6 @@ private:
/** Time in us that freefall has to hold before triggering freefall */
static constexpr hrt_abstime FREEFALL_TRIGGER_TIME_US = 300_ms;
/** Time interval in us in which wider acceptance thresholds are used after the "maybe landed" is cleared before takeoff. */
static constexpr hrt_abstime LAND_DETECTOR_TAKEOFF_PHASE_TIME_US = 2_s;
/** Distance above ground below which entering ground contact state is possible when distance to ground is available. */
static constexpr float DIST_FROM_GROUND_THRESHOLD = 1.0f;