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Copter: Land Detector: add hash define for LAND_DETECTOR_VEL_Z_MAX

This commit is contained in:
Leonard Hall 2024-04-24 18:24:08 +09:30 committed by Randy Mackay
parent 797dfdd0ed
commit 127f1296de
2 changed files with 4 additions and 1 deletions
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3
ArduCopter/config.h
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@ -382,6 +382,9 @@
#ifndef LAND_DETECTOR_ACCEL_MAX
# define LAND_DETECTOR_ACCEL_MAX 1.0f // vehicle acceleration must be under 1m/s/s
#endif
#ifndef LAND_DETECTOR_VEL_Z_MAX
# define LAND_DETECTOR_VEL_Z_MAX 1.0f // vehicle vertical velocity must be under 1m/s
#endif
//////////////////////////////////////////////////////////////////////////////
// Flight mode definitions

2
ArduCopter/land_detector.cpp
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@ -112,7 +112,7 @@ void Copter::update_land_detector()
bool accel_stationary = (land_accel_ef_filter.get().length() <= LAND_DETECTOR_ACCEL_MAX * land_detector_scalar);
// check that vertical speed is within 1m/s of zero
bool descent_rate_low = fabsf(inertial_nav.get_velocity_z_up_cms()) < 100 * land_detector_scalar;
bool descent_rate_low = fabsf(inertial_nav.get_velocity_z_up_cms()) < 100.0 * LAND_DETECTOR_VEL_Z_MAX * land_detector_scalar;
// 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);