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fw_att_pos_estimator: some tuning for the land/in-air detector

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Julian Oes
2014-04-27 02:24:33 +02:00
parent e882824ee1
commit a6f71f10d0
1 changed files with 9 additions and 6 deletions
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src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+9 -6
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@@ -240,6 +240,7 @@ private:
float _velocity_xy_filtered; float _velocity_xy_filtered;
float _velocity_z_filtered; float _velocity_z_filtered;
float _airspeed_filtered;
/** /**
* Update our local parameter cache. * Update our local parameter cache.
@@ -343,7 +344,8 @@ FixedwingEstimator::FixedwingEstimator() :
_mavlink_fd(-1), _mavlink_fd(-1),
_ekf(nullptr), _ekf(nullptr),
_velocity_xy_filtered(0.0f), _velocity_xy_filtered(0.0f),
_velocity_z_filtered(0.0f) _velocity_z_filtered(0.0f),
_airspeed_filtered(0.0f)
{ {
last_run = hrt_absolute_time(); last_run = hrt_absolute_time();
@@ -1200,16 +1202,17 @@ FixedwingEstimator::task_main()
_local_pos.z_global = false; _local_pos.z_global = false;
_local_pos.yaw = _att.yaw; _local_pos.yaw = _att.yaw;
_velocity_xy_filtered = 0.9f*_velocity_xy_filtered + 0.1f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy); _velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
_velocity_z_filtered = 0.9f*_velocity_z_filtered + 0.1f*fabsf(_local_pos.vz); _velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
_airspeed_filtered = 0.95*_airspeed_filtered + + 0.05*_airspeed.true_airspeed_m_s;
/* crude land detector for fixedwing only, /* crude land detector for fixedwing only,
* TODO: adapt so that it works for both, maybe move to another location * TODO: adapt so that it works for both, maybe move to another location
*/ */
if (_velocity_xy_filtered < 2 if (_velocity_xy_filtered < 5
&& _velocity_z_filtered < 2 && _velocity_z_filtered < 10
&& _airspeed.true_airspeed_m_s < 10) { && _airspeed_filtered < 10) {
_local_pos.landed = true; _local_pos.landed = true;
} else { } else {
_local_pos.landed = false; _local_pos.landed = false;