From c1b9b8a1c01db621d7503436913c392013bde454 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Tue, 15 Mar 2022 11:06:05 +0100 Subject: [PATCH] MulticopterLandDetector: correct comment with outdated time constant reference --- src/modules/land_detector/MulticopterLandDetector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index 03a8c84ad2..eb21bb3bbb 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -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