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MC land detector: Update params and fix docs. Allow more motion during the landed state, but become more picky on throttle.

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Lorenz Meier
2015-06-30 09:51:04 +02:00
parent 9a36588361
commit 5549d480fd
1 changed files with 10 additions and 10 deletions
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src/modules/land_detector/land_detector_params.c
+10 -10
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@@ -43,29 +43,29 @@
/**
* Multicopter max climb rate
*
* Maximum vertical velocity allowed to trigger a land (m/s up and down)
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.30f);
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 1.00f);
/**
* Multicopter max horizontal velocity
*
* Maximum horizontal velocity allowed to trigger a land (m/s)
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.00f);
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);
/**
* Multicopter max rotation
*
* Maximum allowed around each axis to trigger a land (degrees per second)
* Maximum allowed around each axis allowed in the landed state (degrees per second)
*
* @unit deg/s
*
@@ -76,19 +76,19 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/**
* Multicopter max throttle
*
* Maximum actuator output on throttle before triggering a land
* Maximum actuator output on throttle allowed in the landed state
*
* @min 0.1
* @max 0.5
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.20f);
PARAM_DEFINE_FLOAT(LNDMC_THR_MAX, 0.15f);
/**
* Fixedwing max horizontal velocity
*
* Maximum horizontal velocity allowed to trigger a land (m/s)
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @min 0.5
* @max 10
@@ -101,7 +101,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
/**
* Fixedwing max climb rate
*
* Maximum vertical velocity allowed to trigger a land (m/s up and down)
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @min 5
* @max 20
@@ -114,7 +114,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
/**
* Airspeed max
*
* Maximum airspeed allowed to trigger a land (m/s)
* Maximum airspeed allowed in the landed state (m/s)
*
* @min 4
* @max 20