From 5549d480fd55817262cb70ebff299a641285c2c0 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 29 Jun 2015 10:16:17 +0200
Subject: [PATCH] MC land detector: Update params and fix docs. Allow more
 motion during the landed state, but become more picky on throttle.

---
 .../land_detector/land_detector_params.c      | 20 +++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/modules/land_detector/land_detector_params.c b/src/modules/land_detector/land_detector_params.c
index f182495ac3..56f971dd35 100644
--- a/src/modules/land_detector/land_detector_params.c
+++ b/src/modules/land_detector/land_detector_params.c
@@ -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