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Altered the ground detector logic to no continuously run when landed

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This commit is contained in:
Jason Short 2012-05-30 09:34:31 -07:00
parent c45209eaff
commit e6ee50f53d
1 changed files with 11 additions and 8 deletions
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19
ArduCopter/commands_logic.pde
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@ -296,7 +296,7 @@ static void do_approach()
{
// Set a contrained value to EEPROM
g.rtl_approach_alt.set(constrain((float)g.rtl_approach_alt, 1.0, 10.0));
// Get the target_alt in cm
uint16_t target_alt = (uint16_t)(g.rtl_approach_alt * 100);
@ -420,12 +420,13 @@ static bool verify_land_sonar()
// if we are low or don't seem to be decending much, increment ground detector
if(current_loc.alt < 40 || abs(climb_rate) < 20) {
landing_boost++; // reduce the throttle at twice the normal rate
if(ground_detector++ >= 30) {
if(ground_detector < 30) {
ground_detector++
}else if (ground_detector == 30){
ground_detector++;
land_complete = true;
ground_detector = 30;
icount = 1;
if(g.rc_3.control_in == 0){
// init disarm motors
init_disarm_motors();
}
return true;
@ -453,11 +454,13 @@ static bool verify_land_baro()
if(current_loc.alt < 150 ){
if(abs(climb_rate) < 20) {
landing_boost++;
if(ground_detector++ >= 30) {
if(ground_detector < 30) {
ground_detector++
}else if (ground_detector == 30){
ground_detector++;
land_complete = true;
ground_detector = 30;
if(g.rc_3.control_in == 0){
// init disarm motors
init_disarm_motors();
}
return true;