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land detector: Improve performance for fixed wing setups

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This commit is contained in:
Lorenz Meier
2015-06-06 11:37:10 +02:00
parent 3e0c14dea2
commit b7986e6fdd
3 changed files with 34 additions and 9 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+9 -5
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@@ -84,11 +84,15 @@ bool FixedwingLandDetector::update()
const uint64_t now = hrt_absolute_time();
bool landDetected = false;
// TODO: reset filtered values on arming?
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
if (hrt_elapsed_time(&_vehicleLocalPosition.timestamp) < 500 * 1000) {
_velocity_xy_filtered = 0.95f * _velocity_xy_filtered + 0.05f * sqrtf(_vehicleLocalPosition.vx *
_vehicleLocalPosition.vx + _vehicleLocalPosition.vy * _vehicleLocalPosition.vy);
_velocity_z_filtered = 0.95f * _velocity_z_filtered + 0.05f * fabsf(_vehicleLocalPosition.vz);
}
if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) {
_airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s;
}
// crude land detector for fixedwing
if (_velocity_xy_filtered < _params.maxVelocity