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Plane: make is_flying() a bit more accurate in landing approach

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prevent false negatives using the sink rate
This commit is contained in:
Andrew Tridgell 2015-03-16 10:58:36 +11:00
parent 9c2f1ce869
commit fb8b96ba0d
1 changed files with 12 additions and 0 deletions
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12
ArduPlane/ArduPlane.pde
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@ -1552,6 +1552,13 @@ static void determine_is_flying(void)
// when armed, we need overwhelming evidence that we ARE NOT flying
isFlyingBool = airspeedMovement || gpsMovement;
/*
make is_flying() more accurate for landing approach
*/
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH &&
fabsf(auto_state.land_sink_rate) > 0.2f) {
isFlyingBool = true;
}
} else {
// when disarmed, we need overwhelming evidence that we ARE flying
isFlyingBool = airspeedMovement && gpsMovement;
@ -1561,6 +1568,11 @@ static void determine_is_flying(void)
isFlyingProbability = (0.6f * isFlyingProbability) + (0.4f * (float)isFlyingBool);
}
/*
return true if we think we are flying. This is a probabilistic
estimate, and needs to be used very carefully. Each use case needs
to be thought about individually.
*/
static bool is_flying(void)
{
if (hal.util->get_soft_armed()) {