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Land detector: Turn throttle range parameter into proper user-configurable parameter

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Lorenz Meier
2017-01-19 23:25:22 +01:00
parent 9448b8cb52
commit 9ef97b78c8
3 changed files with 22 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+4 -1
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@@ -72,6 +72,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
_paramHandle.maxRotation = param_find("LNDMC_ROT_MAX");
_paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX");
_paramHandle.maxClimbRate = param_find("LNDMC_Z_VEL_MAX");
_paramHandle.throttleRange = param_find("LNDMC_THR_RANGE");
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.hoverThrottleAuto = param_find("MPC_THR_HOVER");
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
@@ -111,6 +112,7 @@ void MulticopterLandDetector::_update_params()
_params.maxRotation_rad_s = math::radians(_params.maxRotation_rad_s);
param_get(_paramHandle.minThrottle, &_params.minThrottle);
param_get(_paramHandle.hoverThrottleAuto, &_params.hoverThrottleAuto);
param_get(_paramHandle.throttleRange, &_params.throttleRange);
param_get(_paramHandle.minManThrottle, &_params.minManThrottle);
param_get(_paramHandle.freefall_acc_threshold, &_params.freefall_acc_threshold);
param_get(_paramHandle.freefall_trigger_time, &_params.freefall_trigger_time);
@@ -144,7 +146,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
const uint64_t now = hrt_absolute_time();
// 10% of throttle range between min and hover
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottleAuto - _params.minThrottle) * 0.1f;
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottleAuto - _params.minThrottle) *
_params.throttleRange;
// Determine the system min throttle based on flight mode
if (!_control_mode.flag_control_altitude_enabled) {