From 50ef2d0e526fdff4d82b701d70574a078695b71f Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 2 Jun 2017 15:19:38 +0200 Subject: [PATCH] landdetector: adjust time to 3 stage detection --- src/modules/land_detector/LandDetector.h | 4 ++-- src/modules/land_detector/land_detector_params.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h index bc26700a04..17cbc09639 100644 --- a/src/modules/land_detector/LandDetector.h +++ b/src/modules/land_detector/LandDetector.h @@ -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; diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c index b2e6852a67..4755747c29 100644 --- a/src/modules/land_detector/land_detector_params.c +++ b/src/modules/land_detector/land_detector_params.c @@ -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