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Land detector: Remove LNDMC_TRIG_TIME parameter (#25251)

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* LandDetector: remove unused LNDMC_TRIG_TIME parameter

* LandDetector: remove unnecessarily complicated global set_hysteresis_factor() function

* Apply suggestions from code review

Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>

* Apply suggestions from code review

* remove param

---------

Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Matthias Grob
2026-02-19 11:17:03 -09:00
committed by GitHub
co-authored by Jacob Dahl Hamish Willee Jacob Dahl
parent fd7edaa4fe
commit 62f5f5267e
13 changed files with 26 additions and 60 deletions
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docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params
+2 -3
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@@ -1,8 +1,8 @@
# Onboard parameters for Vehicle 1
#
# Stack: PX4 Pro
# Vehicle: Multi-Rotor
# Version: 1.15.4
# Vehicle: Amovlab F410
# Version: 1.15.4
# Git Revision: 99c40407ff000000
#
# Vehicle-Id Component-Id Name Value Type
@@ -546,7 +546,6 @@
1 1 IMU_INTEG_RATE 200 6
1 1 LNDMC_ALT_GND 2.000000000000000000 9
1 1 LNDMC_ROT_MAX 20.000000000000000000 9
1 1 LNDMC_TRIG_TIME 1.000000000000000000 9
1 1 LNDMC_XY_VEL_MAX 1.500000000000000000 9
1 1 LNDMC_Z_VEL_MAX 0.250000000000000000 9
1 1 LND_FLIGHT_T_HI 5 6
docs/en/advanced_config/land_detector.md
+1 -1
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@@ -38,7 +38,7 @@ In order to detect landing, the multicopter first has to go through three differ
If a condition cannot be reached because of missing sensors, then the condition is true by default.
For instance, in [Acro mode](../flight_modes_mc/acro.md) and no sensor is active except for the gyro sensor, then the detection solely relies on thrust output and time.
In order to proceed to the next state, each condition has to be true for a third of the configured total land detector trigger time [LNDMC_TRIG_TIME](../advanced_config/parameter_reference.md#LNDMC_TRIG_TIME).
In order to proceed to the next state, each condition has to be true for 300ms.
If the vehicle is equipped with a distance sensor, but the distance to ground is currently not measurable (usually because it is too large), the trigger time is increased by a factor of 3.
If one condition fails, the land detector drops out of the current state immediately.