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MC LandDetector: widen thresholds for vz and rotational movment always in maybe landed and 2s after

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-01 18:35:54 +01:00
parent 27309a45cc
commit 91adb4c9e0
2 changed files with 15 additions and 17 deletions
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src/modules/land_detector/MulticopterLandDetector.h
+2 -3
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@@ -84,8 +84,8 @@ private:
/** Time in us that freefall has to hold before triggering freefall */
static constexpr hrt_abstime FREEFALL_TRIGGER_TIME_US = 300_ms;
/** Time interval in us in which wider acceptance thresholds are used after landed. */
static constexpr hrt_abstime LAND_DETECTOR_LAND_PHASE_TIME_US = 2_s;
/** Time interval in us in which wider acceptance thresholds are used after the "maybe landed" is cleared before takeoff. */
static constexpr hrt_abstime LAND_DETECTOR_TAKEOFF_PHASE_TIME_US = 2_s;
/** Distance above ground below which entering ground contact state is possible when distance to ground is available. */
static constexpr float DIST_FROM_GROUND_THRESHOLD = 1.0f;
@@ -123,7 +123,6 @@ private:
uint8_t _takeoff_state{takeoff_status_s::TAKEOFF_STATE_DISARMED};
hrt_abstime _min_thrust_start{0}; ///< timestamp when minimum trust was applied first
hrt_abstime _landed_time{0};
bool _in_descend{false}; ///< vehicle is commanded to desend
bool _horizontal_movement{false}; ///< vehicle is moving horizontally