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land_detector: fix sanity condition that we have ground contact when we are landed to include the hysteresis flag

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because the condition was looking for the instantaneous flag and during the hysteresis time the state did not change anymore
This commit is contained in:
Matthias Grob
2017-04-19 12:03:03 +02:00
parent caecdbd60b
commit d1b270d5b2
1 changed files with 4 additions and 8 deletions
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src/modules/land_detector/LandDetector.cpp
+4 -8
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@@ -198,15 +198,11 @@ void LandDetector::_check_params(const bool force)
void LandDetector::_update_state()
{
/* ground contact and landed can be true simultaneously but only one state can be true at a particular time
/* when we are landed we also have ground contact for sure but only one output state can be true at a particular time
* with higher priority for landed */
bool freefall = _get_freefall_state();
bool landed = _get_landed_state();
bool groundContact = (landed || _get_ground_contact_state());
_freefall_hysteresis.set_state_and_update(freefall);
_landed_hysteresis.set_state_and_update(landed);
_ground_contact_hysteresis.set_state_and_update(groundContact);
_freefall_hysteresis.set_state_and_update(_get_freefall_state());
_landed_hysteresis.set_state_and_update(_get_landed_state());
_ground_contact_hysteresis.set_state_and_update(_landed_hysteresis.get_state() || _get_ground_contact_state());
if (_freefall_hysteresis.get_state()) {
_state = LandDetectionState::FREEFALL;