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MulticopterLandDetector: Apply threshold widening only when landed, not maybe landed

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This commit is contained in:
Matthias Grob
2022-10-25 00:02:02 +02:00
committed by Silvan Fuhrer
parent 509c37c373
commit ac646d32e6
1 changed files with 4 additions and 4 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+4 -4
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@@ -154,7 +154,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
float vertical_velocity_threshold = _param_lndmc_z_vel_max.get();
if (_maybe_landed_hysteresis.get_state()) {
if (_landed_hysteresis.get_state()) {
vertical_velocity_threshold *= 2.5f;
}
@@ -266,9 +266,9 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
// Next look if vehicle is not rotating (do not consider yaw)
float max_rotation_threshold = math::radians(_param_lndmc_rot_max.get());
// Widen max rotation thresholds if either in maybe landed state, thus making it harder
// to trigger a false positive !maybe_landed e.g. due to propeller throttling up/down.
if (_maybe_landed_hysteresis.get_state()) {
// Widen max rotation thresholds if either in landed state, thus making it harder
// to trigger a false positive !landed e.g. due to propeller throttling up/down.
if (_landed_hysteresis.get_state()) {
max_rotation_threshold *= 2.5f;
}