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land_detector: relax data timeouts uniformly

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* if we're hitting these timeouts there are much larger problems in the system
This commit is contained in:
Daniel Agar
2020-01-20 17:14:00 -05:00
committed by GitHub
parent d1260aa28c
commit 635ceccfdb
3 changed files with 5 additions and 16 deletions
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src/modules/land_detector/VtolLandDetector.cpp
+1 -1
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@@ -74,7 +74,7 @@ bool VtolLandDetector::_get_landed_state()
bool landed = MulticopterLandDetector::_get_landed_state();
// for vtol we additionally consider airspeed
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000 && _airspeed.confidence > 0.99f
if (hrt_elapsed_time(&_airspeed.timestamp) < 1_s && _airspeed.confidence > 0.99f
&& PX4_ISFINITE(_airspeed.indicated_airspeed_m_s)) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.indicated_airspeed_m_s;