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rover: add descend navigation state to land detection

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chfriedrich98
2024-09-13 15:11:56 +02:00
committed by chfriedrich98
parent 1c9c5e51c2
commit 81747f35bb
1 changed files with 3 additions and 2 deletions
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src/modules/land_detector/RoverLandDetector.cpp
+3 -2
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@@ -55,12 +55,13 @@ bool RoverLandDetector::_get_landed_state()
const float distance_to_home = get_distance_to_next_waypoint(_curr_pos(0), _curr_pos(1),
_home_position(0), _home_position(1));
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND
|| _vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_DESCEND) {
return true; // If Landing has been requested then say we have landed.
} else if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
&& distance_to_home < _param_nav_acc_rad.get() && _param_rtl_land_delay.get() > -FLT_EPSILON) {
return true; // If the rover reaches the home position during RTL we say we have landed
return true; // If the rover reaches the home position during RTL we say we have landed.
} else {
return !_armed; // If we are armed we are not landed.