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landdetector: adjust time to 3 stage detection

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Dennis Mannhart 2017-06-02 15:19:38 +02:00 committed by Lorenz Meier
parent 9baf41bef1
commit 50ef2d0e52
2 changed files with 3 additions and 3 deletions
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4
src/modules/land_detector/LandDetector.h
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@ -150,10 +150,10 @@ protected:
static constexpr uint64_t LAND_DETECTOR_TRIGGER_TIME_US = 500000;
/** Time in us that almost landing conditions have to hold before triggering almost landed . */
static constexpr uint64_t MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 1000000;
static constexpr uint64_t MAYBE_LAND_DETECTOR_TRIGGER_TIME_US = 250000;
/** Time in us that ground contact condition have to hold before triggering contact ground */
static constexpr uint64_t GROUND_CONTACT_TRIGGER_TIME_US = 1000000;
static constexpr uint64_t GROUND_CONTACT_TRIGGER_TIME_US = 350000;
/** Time interval in us in which wider acceptance thresholds are used after arming. */
static constexpr uint64_t LAND_DETECTOR_ARM_PHASE_TIME_US = 2000000;

2
src/modules/land_detector/land_detector_params.c
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@ -60,7 +60,7 @@ PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 0.5f);
/**
* Multicopter max rotation