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VtolLandDetector: remove airspeed check

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This commit removes the additional airspeed check (airspeed for VTOLs in
hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the
landed state (headwind blowing into the airspeed sensor won't stop
once on the gruond). In FW mode the check would make more sense, but there
the land detector is currently simply disabled.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-07-22 08:31:32 +02:00
parent 32c6ec061e
commit 85a621303d
2 changed files with 5 additions and 40 deletions
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src/modules/land_detector/VtolLandDetector.cpp
+1 -25
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@@ -69,31 +69,7 @@ bool VtolLandDetector::_get_landed_state()
return !_armed;
}
// this is returned from the mutlicopter land detector
bool landed = MulticopterLandDetector::_get_landed_state();
// for vtol we additionally consider airspeed
airspeed_validated_s airspeed_validated{};
_airspeed_validated_sub.copy(&airspeed_validated);
if (hrt_elapsed_time(&airspeed_validated.timestamp) < 1_s && PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * airspeed_validated.true_airspeed_m_s;
} else {
// if airspeed does not update, set it to zero and rely on multicopter land detector
_airspeed_filtered = 0.0f;
}
// only consider airspeed if we have been in air before to avoid false
// detections in the case of wind on the ground
if (_was_in_air && (_airspeed_filtered > _param_lndfw_airspd_max.get())) {
landed = false;
}
_was_in_air = !landed;
return landed;
return MulticopterLandDetector::_get_landed_state();
}
bool VtolLandDetector::_get_freefall_state()