This commit removes the additional airspeed check (airspeed for VTOLs in
hover below LNDFW_AIRSPD_MAX), as it is not a required condition in the
landed state (headwind blowing into the airspeed sensor won't stop
once on the gruond). In FW mode the check would make more sense, but there
the land detector is currently simply disabled.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- if "landed" and "maybe_landed" states are false then both the "hit_ground" and the "low_thrust" condition need to be true in order to detect landing
- ground contact MC NAN setpoint workaround
- ground contact additionally check acceleration setpoint
- schedule with vehicle_local_position updates (most updates require valid local position)
- don't allow LNDMC_Z_VEL_MAX to exceed MPC_LAND_SPEED
- ground contact horizontal movement checks default to failed if estimates aren't available
Extend the get_freefall_state() from MC land detector to have a VTOL-specific
one that just enables free fall detection if in rotary wing or transition mode.
This is done to prevent wrong free-fall detected warnings while doing low-G maneuvers
(parabolic flights). Land detection is anyway disabled in FW flight for VTOL so
no logic change.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This allows to detect ground contact before concluding the system is landed. This allows to disable some parts of the horizontal control system and only control the vertical position to avoid tipping over.
;
Silvan Fuhrer