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ArduCopter: loosen motion based landing detection when WoW is present

This commit is contained in:
TunaLobster 2021-02-06 16:47:01 -06:00 committed by Randy Mackay
parent 444b33b059
commit 1bda79dd72
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/land_detector.cpp
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@ -68,17 +68,23 @@ void Copter::update_land_detector()
bool motor_at_lower_limit = motors->limit.throttle_lower && attitude_control->is_throttle_mix_min();
#endif
uint8_t land_detector_scalar = 1;
if (landinggear.get_wow_state() != AP_LandingGear::LG_WOW_UNKNOWN) {
// we have a WoW sensor so lets loosen the strictness of the landing detector
land_detector_scalar = 2;
}
// check that the airframe is not accelerating (not falling or braking after fast forward flight)
bool accel_stationary = (land_accel_ef_filter.get().length() <= LAND_DETECTOR_ACCEL_MAX);
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()) < 100;
bool descent_rate_low = fabsf(inertial_nav.get_velocity_z()) < 100 * 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);
// if we have weight on wheels (WoW) or ambiguous unknown. never no WoW
const bool WoW_check = (landinggear.get_wow_state() == 1 || landinggear.get_wow_state() == -1);
const bool WoW_check = (landinggear.get_wow_state() == AP_LandingGear::LG_WOW || landinggear.get_wow_state() == AP_LandingGear::LG_WOW_UNKNOWN);
if (motor_at_lower_limit && accel_stationary && descent_rate_low && rangefinder_check && WoW_check) {
// landed criteria met - increment the counter and check if we've triggered