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LandDetector FW: Fix param min/max values and descriptions as well as some variable names which were wrong/outdated (#9708)

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Philipp Oettershagen
2018-06-20 16:13:33 -04:00
committed by Daniel Agar
parent 4dfd77a0cd
commit 7a82c777b2
5 changed files with 16 additions and 16 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+3 -3
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@@ -54,7 +54,7 @@ FixedwingLandDetector::FixedwingLandDetector()
_paramHandle.maxVelocity = param_find("LNDFW_VEL_XY_MAX");
_paramHandle.maxClimbRate = param_find("LNDFW_VEL_Z_MAX");
_paramHandle.maxAirSpeed = param_find("LNDFW_AIRSPD_MAX");
_paramHandle.maxIntVelocity = param_find("LNDFW_VELI_MAX");
_paramHandle.maxXYAccel = param_find("LNDFW_XYACC_MAX");
// Use Trigger time when transitioning from in-air (false) to landed (true) / ground contact (true).
_landed_hysteresis.set_hysteresis_time_from(false, LANDED_TRIGGER_TIME_US);
@@ -81,7 +81,7 @@ void FixedwingLandDetector::_update_params()
param_get(_paramHandle.maxVelocity, &_params.maxVelocity);
param_get(_paramHandle.maxClimbRate, &_params.maxClimbRate);
param_get(_paramHandle.maxAirSpeed, &_params.maxAirSpeed);
param_get(_paramHandle.maxIntVelocity, &_params.maxIntVelocity);
param_get(_paramHandle.maxXYAccel, &_params.maxXYAccel);
}
float FixedwingLandDetector::_get_max_altitude()
@@ -130,7 +130,7 @@ bool FixedwingLandDetector::_get_landed_state()
landDetected = _velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed
&& _accel_horz_lp < _params.maxIntVelocity;
&& _accel_horz_lp < _params.maxXYAccel;
} else {
// Control state topic has timed out and we need to assume we're landed.