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multirotor landinging sudden fall protection:

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remove condition which made activation of the protection
very unlikely
This commit is contained in:
Roman
2016-01-22 11:51:38 +01:00
committed by Andreas Antener
parent c32938d2a8
commit 7a8adaa591
1 changed files with 0 additions and 3 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
-3
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@@ -1512,7 +1512,6 @@ MulticopterPositionControl::task_main()
_landing_started = hrt_absolute_time();
}
#if 0
// TODO quick fix: remove this since in combination with the non-working fall detection
// it can lead to the copter falling out of the sky
/* don't let it throttle up again during landing */
@@ -1523,7 +1522,6 @@ MulticopterPositionControl::task_main()
&& hrt_elapsed_time(&_landing_started) > 15e5) {
_landing_thrust = thrust_abs;
}
#endif
/* assume ground, reduce thrust */
if (hrt_elapsed_time(&_landing_started) > 15e5
@@ -1535,7 +1533,6 @@ MulticopterPositionControl::task_main()
/* if we suddenly fall, reset landing logic and remove thrust limit */
if (hrt_elapsed_time(&_landing_started) > 15e5
&& _landing_thrust < FLT_EPSILON
/* XXX: magic value, assuming free fall above 4m/s2 acceleration */
&& (_acc_z_lp > 4.0f
|| _vel_z_lp > 2.0f * _params.land_speed)