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ArduCopter: add WoW to Copter landing check

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TunaLobster 2021-02-04 22:15:06 -06:00 committed by Randy Mackay
parent d91fd8b006
commit 444b33b059
1 changed files with 4 additions and 1 deletions
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ArduCopter/land_detector.cpp
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@ -77,7 +77,10 @@ void Copter::update_land_detector()
// if we have a healthy rangefinder only allow landing detection below 2 meters // 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); 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) { // 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);
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 // 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++;