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landdetector: consider 8 second maybe_landed case only if no rotation present

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Dennis Mannhart 2017-07-05 15:02:53 +02:00 committed by Lorenz Meier
parent ec04577e3a
commit 69ecfef8a4
1 changed files with 16 additions and 9 deletions
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25
src/modules/land_detector/MulticopterLandDetector.cpp
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@ -263,15 +263,6 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
_min_trust_start = 0;
}
// Return status based on armed state and throttle if no position lock is available.
if (!_has_altitude_lock()) {
// The system has minimum trust set (manual or in failsafe)
// if this persists for 8 seconds AND the drone is not
// falling consider it to be landed. This should even sustain
// quite acrobatic flight.
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
}
float armThresholdFactor = 1.0f;
// Widen acceptance thresholds for landed state right after arming
@ -287,6 +278,22 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
(fabsf(_vehicleAttitude.pitchspeed) > maxRotationScaled) ||
(fabsf(_vehicleAttitude.yawspeed) > maxRotationScaled);
// Return status based on armed state and throttle if no position lock is available.
if (!_has_altitude_lock() && !rotating) {
// The system has minimum trust set (manual or in failsafe)
// if this persists for 8 seconds AND the drone is not
// falling consider it to be landed. This should even sustain
// quite acrobatic flight.
if ((_min_trust_start > 0) &&
(hrt_elapsed_time(&_min_trust_start) > 8000000)) {
return true;
} else {
return false;
}
}
if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
// Ground contact, no thrust and no movement -> landed
return true;