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Land detector: Detect ground contact separately

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This allows to detect ground contact before concluding the system is landed. This allows to disable some parts of the horizontal control system and only control the vertical position to avoid tipping over.
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Lorenz Meier
2017-01-28 16:23:04 +01:00
parent 36026fb631
commit 9e9e0e23ad
5 changed files with 51 additions and 18 deletions
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src/modules/land_detector/MulticopterLandDetector.h
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@@ -71,6 +71,8 @@ protected:
virtual bool _get_landed_state() override;
bool _get_ground_contact_state();
virtual bool _get_freefall_state() override;
private: