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land_detector: added a parameter for the manual land detection stick throshold

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because it is definitely something that needs to be allowed to tune or disable for different application scenarios
This commit is contained in:
Matthias Grob
2017-02-23 13:18:49 +01:00
committed by Lorenz Meier
parent ef228b82aa
commit e6031a97fa
3 changed files with 20 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+3 -1
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@@ -78,6 +78,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
_paramHandle.freefall_acc_threshold = param_find("LNDMC_FFALL_THR");
_paramHandle.freefall_trigger_time = param_find("LNDMC_FFALL_TTRI");
_paramHandle.manual_stick_down_threshold = param_find("LNDMC_MAN_DWNTHR");
}
void MulticopterLandDetector::_initialize_topics()
@@ -117,6 +118,7 @@ void MulticopterLandDetector::_update_params()
param_get(_paramHandle.freefall_acc_threshold, &_params.freefall_acc_threshold);
param_get(_paramHandle.freefall_trigger_time, &_params.freefall_trigger_time);
_freefall_hysteresis.set_hysteresis_time_from(false, (hrt_abstime)(1e6f * _params.freefall_trigger_time));
param_get(_paramHandle.manual_stick_down_threshold, &_params.manual_stick_down_threshold);
}
@@ -158,7 +160,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// Check if user commands throttle and if so, report no ground contact based on
// the user intent to take off (even if the system might physically still have
// ground contact at this point).
const bool manual_control_idle = (_has_manual_control_present() && _manual.z < 0.15f);
const bool manual_control_idle = (_has_manual_control_present() && _manual.z < _params.manual_stick_down_threshold);
const bool manual_control_idle_or_auto = manual_control_idle || !_control_mode.flag_control_manual_enabled;
// Widen acceptance thresholds for landed state right after arming