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MulticopterLandDetector: correct comment with outdated time constant reference

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Matthias Grob
2022-03-23 10:49:38 +01:00
parent b85c4ec475
commit c1b9b8a1c0
1 changed files with 1 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
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@@ -44,7 +44,7 @@
*State 2 (=maybe_landed):
*maybe_landed can only occur if the internal ground_contact hysteresis state is true. maybe_landed criteria requires to have no motion in x and y,
*no rotation and a thrust below 0.1 of the thrust_range (thrust_hover - thrust_min). In addition, the mc_pos_control turns off the thrust_sp in
*body frame along x and y which helps to detect maybe_landed. The criteria for maybe_landed needs to be true for MAYBE_LAND_DETECTOR_TRIGGER_TIME_US.
*body frame along x and y which helps to detect maybe_landed. The criteria for maybe_landed needs to be true for (LNDMC_TRIG_TIME / 3) seconds.
*
*State 3 (=landed)
*landed can only be detected if maybe_landed is true for LAND_DETECTOR_TRIGGER_TIME_US. No farther criteria is tested, but the mc_pos_control goes into