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Plane: fixed false positive in landing detector 

this fixes a case where we can get false positive on the landing
detector for quadplanes.

The issue happens if we cross the LAND_DESCEND to LAND_FINAL threshold
while pilot repositioning is active, with stale information in
landing_detect.lower_limit_start_ms as we don't run should_relax() in
LAND_DESCEND
This commit is contained in:
Andrew Tridgell 2022-05-23 09:03:16 +10:00
parent 2d0cfb3fad
commit 031f69df15
1 changed files with 4 additions and 3 deletions
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7
ArduPlane/quadplane.cpp
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@ -2210,6 +2210,8 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
// remember last pos reset to handle GPS glitch in LAND_FINAL // remember last pos reset to handle GPS glitch in LAND_FINAL
Vector2f rpos; Vector2f rpos;
last_pos_reset_ms = plane.ahrs.getLastPosNorthEastReset(rpos); last_pos_reset_ms = plane.ahrs.getLastPosNorthEastReset(rpos);
qp.landing_detect.land_start_ms = 0;
qp.landing_detect.lower_limit_start_ms = 0;
} }
// double log to capture the state change // double log to capture the state change
qp.log_QPOS(); qp.log_QPOS();
@ -3072,13 +3074,12 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
*/ */
bool QuadPlane::land_detector(uint32_t timeout_ms) bool QuadPlane::land_detector(uint32_t timeout_ms)
{ {
const uint32_t now = AP_HAL::millis(); bool might_be_landed = should_relax() && !poscontrol.pilot_correction_active;
bool might_be_landed = (landing_detect.lower_limit_start_ms != 0 &&
now - landing_detect.lower_limit_start_ms > 1000);
if (!might_be_landed) { if (!might_be_landed) {
landing_detect.land_start_ms = 0; landing_detect.land_start_ms = 0;
return false; return false;
} }
const uint32_t now = AP_HAL::millis();
float height = inertial_nav.get_position_z_up_cm() * 0.01; float height = inertial_nav.get_position_z_up_cm() * 0.01;
if (landing_detect.land_start_ms == 0) { if (landing_detect.land_start_ms == 0) {
landing_detect.land_start_ms = now; landing_detect.land_start_ms = now;