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Land detector: Protect fixed wing logic from false-positives due to bad input data

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Lorenz Meier
2015-06-11 19:25:17 +02:00
parent e94bc7960c
commit 891829d3a7
1 changed files with 9 additions and 2 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+9 -2
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@@ -85,9 +85,16 @@ bool FixedwingLandDetector::update()
bool landDetected = false; bool landDetected = false;
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) { if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx * float val = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy); _vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz); if (isfinite(val)) {
_velocity_xy_filtered = val;
}
val = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
if (isfinite(val)) {
_velocity_z_filtered = val;
}
} }
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) { if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {