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LandDetector: Fixed some typos and magic constant

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This commit is contained in:
Johan Jansen 2015-01-06 12:16:07 +01:00
parent b5c7c6a15b
commit eefbf366fb
3 changed files with 4 additions and 5 deletions
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3
src/modules/fw_land_detector/FixedwingLandDetector.h
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@ -33,10 +33,9 @@
/**
* @file FixedwingLandDetector.h
* Land detection algorithm for multicopters
* Land detection algorithm for fixedwing
*
* @author Johan Jansen <jnsn.johan@gmail.com>
* @author Morten Lysgaard <Morten@mycptr.com>
*/
#ifndef __FIXED_WING_LAND_DETECTOR_H__

5
src/modules/mc_land_detector/MulticopterLandDetector.cpp
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@ -147,6 +147,7 @@ void MulticopterLandDetector::landDetectorLoop()
//Check if we are moving vertically
bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > MC_LAND_DETECTOR_CLIMBRATE_MAX;
//Check if we are moving horizontally
bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n*_vehicleGlobalPosition.vel_n
+ _vehicleGlobalPosition.vel_e*_vehicleGlobalPosition.vel_e) > MC_LAND_DETECTOR_VELOCITY_MAX;
@ -165,8 +166,8 @@ void MulticopterLandDetector::landDetectorLoop()
}
// if we have detected a landing for 2 continious seconds
if(now-_landTimer > 2000000) {
// if we have detected a landing for 2 continuous seconds
if(now-_landTimer > MC_LAND_DETECTOR_TRIGGER_TIME) {
if(!_landDetected.landed)
{
_landDetected.timestamp = now;

1
src/modules/mc_land_detector/MulticopterLandDetector.h
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@ -50,7 +50,6 @@
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_armed.h>
//TODO: add crash detection to this module?
class MulticopterLandDetector {
public:
MulticopterLandDetector();