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Copter: restore baro climb rate check to land_detector

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Randy Mackay 2015-01-14 13:00:57 +09:00
parent 1c25c00f5b
commit d6c48e422a
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/land_detector.pde
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@ -13,13 +13,13 @@ static bool land_complete_maybe()
// called at 50hz // called at 50hz
static void update_land_detector() static void update_land_detector()
{ {
bool climb_rate_small = abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX; bool climb_rate_low = (abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) && (abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX);
bool target_climb_rate_low = !pos_control.is_active_z() || pos_control.get_desired_velocity().z < LAND_SPEED; bool target_climb_rate_low = !pos_control.is_active_z() || (pos_control.get_desired_velocity().z < LAND_SPEED);
bool motor_at_lower_limit = motors.limit.throttle_lower; bool motor_at_lower_limit = motors.limit.throttle_lower;
bool throttle_low = FRAME_CONFIG == HELI_FRAME || motors.get_throttle_out() < get_non_takeoff_throttle(); bool throttle_low = (FRAME_CONFIG == HELI_FRAME) || (motors.get_throttle_out() < get_non_takeoff_throttle());
bool not_rotating_fast = ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX; bool not_rotating_fast = (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX);
if (climb_rate_small && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) { if (climb_rate_low && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
if (!ap.land_complete) { if (!ap.land_complete) {
// increase counter until we hit the trigger then set land complete flag // increase counter until we hit the trigger then set land complete flag
if( land_detector < LAND_DETECTOR_TRIGGER) { if( land_detector < LAND_DETECTOR_TRIGGER) {