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Copter: use rangefinder to prevent auto-disarm in the air 

only consider the vehicle to be landed if either no rangefinder or
rangefinder shows an altitude below 2m
This commit is contained in:
Andrew Tridgell 2016-08-16 13:06:49 +10:00
parent 7ce7eb5a60
commit 06154fc4ab
2 changed files with 7 additions and 1 deletions
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3
ArduCopter/config.h
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@ -370,6 +370,9 @@
#ifndef LAND_CANCEL_TRIGGER_THR #ifndef LAND_CANCEL_TRIGGER_THR
# define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700 # define LAND_CANCEL_TRIGGER_THR 700 // land is cancelled by input throttle above 700
#endif #endif
#ifndef LAND_RANGEFINDER_MIN_ALT_CM
#define LAND_RANGEFINDER_MIN_ALT_CM 200
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Landing Detector // Landing Detector

5
ArduCopter/land_detector.cpp
View File

@ -71,7 +71,10 @@ void Copter::update_land_detector()
// check that vertical speed is within 1m/s of zero // check that vertical speed is within 1m/s of zero
bool descent_rate_low = fabsf(inertial_nav.get_velocity_z()) < 100; bool descent_rate_low = fabsf(inertial_nav.get_velocity_z()) < 100;
if (motor_at_lower_limit && accel_stationary && descent_rate_low) { // if we have a healthy rangefinder only allow landing detection below 2 meters
bool rangefinder_check = (!rangefinder_alt_ok() || rangefinder_state.alt_cm_filt.get() < LAND_RANGEFINDER_MIN_ALT_CM);
if (motor_at_lower_limit && accel_stationary && descent_rate_low && rangefinder_check) {
// landed criteria met - increment the counter and check if we've triggered // landed criteria met - increment the counter and check if we've triggered
if( land_detector_count < ((float)LAND_DETECTOR_TRIGGER_SEC)*scheduler.get_loop_rate_hz()) { if( land_detector_count < ((float)LAND_DETECTOR_TRIGGER_SEC)*scheduler.get_loop_rate_hz()) {
land_detector_count++; land_detector_count++;