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MulticopterLandDetector: rename vertical velocity threshold variable

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This commit is contained in:
Matthias Grob
2022-11-01 18:35:54 +01:00
committed by Silvan Fuhrer
parent 06bf60672b
commit d9764f2ef4
2 changed files with 8 additions and 7 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+3 -3
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@@ -152,13 +152,13 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// vertical speed is often deteriorated when on the ground or due to propeller // vertical speed is often deteriorated when on the ground or due to propeller
// up/down throttling. // up/down throttling.
float max_vertical_velocity = _param_lndmc_z_vel_max.get(); float vertical_velocity_threshold = _param_lndmc_z_vel_max.get();
if (_maybe_landed_hysteresis.get_state()) { if (_maybe_landed_hysteresis.get_state()) {
max_vertical_velocity *= 2.5f; vertical_velocity_threshold *= 2.5f;
} }
_vertical_movement = (fabsf(_vehicle_local_position.vz) > max_vertical_velocity); _vertical_movement = (fabsf(_vehicle_local_position.vz) > vertical_velocity_threshold);
} else { } else {
_vertical_movement = true; _vertical_movement = true;
src/modules/land_detector/land_detector_params_mc.c
+5 -4
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@@ -48,11 +48,12 @@
PARAM_DEFINE_FLOAT(LNDMC_TRIG_TIME, 1.0f); PARAM_DEFINE_FLOAT(LNDMC_TRIG_TIME, 1.0f);
/** /**
* Multicopter max climb rate * Multicopter vertical velocity threshold
* *
* Maximum vertical velocity allowed in the landed state. * Vertical velocity threshold to detect landing.
* Should be set lower than MPC_LAND_SPEED (and MPC_LAND_CRWL * Should be set lower than the expected minimal speed for landing
* if distance sensor is present). * so MPC_LAND_SPEED for autonomous landing and MPC_LAND_CRWL
* if distance sensor is present and slowing down close to ground.
* *
* @unit m/s * @unit m/s
* @decimal 1 * @decimal 1