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Plane: added crash detection in autoland

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if we are no longer flying then flare, which turns off the motor

This is based on work by Tom Pittenger
This commit is contained in:
Andrew Tridgell 2015-03-16 10:59:40 +11:00
parent fb8b96ba0d
commit e55350a5d6
1 changed files with 8 additions and 3 deletions
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11
ArduPlane/landing.pde
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@ -52,11 +52,16 @@ static bool verify_land()
*/
if (height <= g.land_flare_alt ||
height <= auto_state.land_sink_rate * aparm.land_flare_sec ||
(!rangefinder_state.in_range && location_passed_point(current_loc, prev_WP_loc, next_WP_loc))) {
(!rangefinder_state.in_range && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) ||
(fabsf(auto_state.land_sink_rate) < 0.2f && !is_flying())) {
if (!auto_state.land_complete) {
gcs_send_text_fmt(PSTR("Flare %.1fm sink=%.2f speed=%.1f"),
height, auto_state.land_sink_rate, gps.ground_speed());
if (!is_flying()) {
gcs_send_text_fmt(PSTR("Flare crash detected: speed=%.1f"), gps.ground_speed());
} else {
gcs_send_text_fmt(PSTR("Flare %.1fm sink=%.2f speed=%.1f"),
height, auto_state.land_sink_rate, gps.ground_speed());
}
}
auto_state.land_complete = true;