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Copter: update_throttle_mix uses filtered accelerations

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Randy Mackay 2020-02-21 15:52:03 +09:00 committed by Andrew Tridgell
parent a69c8823a7
commit 86c99a5b37
1 changed files with 1 additions and 3 deletions
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4
ArduCopter/land_detector.cpp
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@ -168,9 +168,7 @@ void Copter::update_throttle_mix()
bool large_angle_error = (angle_error > LAND_CHECK_ANGLE_ERROR_DEG); bool large_angle_error = (angle_error > LAND_CHECK_ANGLE_ERROR_DEG);
// check for large acceleration - falling or high turbulence // check for large acceleration - falling or high turbulence
Vector3f accel_ef = ahrs.get_accel_ef_blended(); const bool accel_moving = (land_accel_ef_filter.get().length() > LAND_CHECK_ACCEL_MOVING);
accel_ef.z += GRAVITY_MSS;
bool accel_moving = (accel_ef.length() > LAND_CHECK_ACCEL_MOVING);
// check for requested decent // check for requested decent
bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f; bool descent_not_demanded = pos_control->get_desired_velocity().z >= 0.0f;