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FW land detector increase trigger time and cleanup (#8486)

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This commit is contained in:
Daniel Agar
2017-12-21 12:17:32 -05:00
committed by GitHub
parent 7dab5d4380
commit ec57832a8f
6 changed files with 231 additions and 191 deletions
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src/modules/land_detector/land_detector_params.c
-162
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@@ -31,150 +31,6 @@
*
****************************************************************************/
/**
* @file land_detector.c
* Land detector algorithm parameters.
*
* @author Johan Jansen <jnsn.johan@gmail.com>
*/
/**
* Multicopter max climb rate
*
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);
/**
* Multicopter max horizontal velocity
*
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
/**
* Multicopter max rotation
*
* Maximum allowed angular velocity around each axis allowed in the landed state.
*
* @unit deg/s
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
/**
* Multicopter specific force threshold
*
* Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
*
* @unit m/s^2
* @min 0.1
* @max 10
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
/**
* Multicopter sub-hover throttle scaling
*
* The range between throttle_min and throttle_hover is scaled
* by this parameter to define how close to minimum throttle
* the current throttle value needs to be in order to get
* accepted as landed.
*
* @min 0.05
* @max 0.5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
/**
* Multicopter free-fall trigger time
*
* Seconds (decimal) that freefall conditions have to met before triggering a freefall.
* Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
*
* @unit s
* @min 0.02
* @max 5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);
/**
* Fixedwing max horizontal velocity
*
* Maximum horizontal velocity allowed in the landed state (m/s)
*
* @unit m/s
* @min 0.5
* @max 10
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
/**
* Fixedwing max climb rate
*
* Maximum vertical velocity allowed in the landed state (m/s up and down)
*
* @unit m/s
* @min 5
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);
/**
* Fixedwing max short-term velocity
*
* Maximum velocity integral in flight direction allowed in the landed state (m/s)
*
* @unit m/s
* @min 2
* @max 10
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);
/**
* Airspeed max
*
* Maximum airspeed allowed in the landed state (m/s)
*
* @unit m/s
* @min 4
* @max 20
* @decimal 1
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);
/**
* Total flight time in microseconds
*
@@ -198,21 +54,3 @@ PARAM_DEFINE_INT32(LND_FLIGHT_T_HI, 0);
*
*/
PARAM_DEFINE_INT32(LND_FLIGHT_T_LO, 0);
/**
* Maximum altitude for multicopters
*
* The system will obey this limit as a
* hard altitude limit. This setting will
* be consolidated with the GF_MAX_VER_DIST
* parameter.
* A negative value indicates no altitude limitation.
*
* @unit m
* @min -1
* @max 10000
* @decimal 2
* @group Land Detector
*
*/
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);