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Plane: added Q_LAND_ALTCHG parameter

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this is the threshold height change over 4 seconds for a landing to be
detected. It can be raised if landing detection is very slow
This commit is contained in:
Andrew Tridgell 2022-03-02 10:58:26 +11:00 committed by Randy Mackay
parent c32b7823e8
commit fc7a8a1a19
2 changed files with 13 additions and 1 deletions
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11
ArduPlane/quadplane.cpp
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@ -434,6 +434,15 @@ const AP_Param::GroupInfo QuadPlane::var_info2[] = {
// @Path: ../libraries/AC_AttitudeControl/AC_WeatherVane.cpp // @Path: ../libraries/AC_AttitudeControl/AC_WeatherVane.cpp
AP_SUBGROUPPTR(weathervane, "WVANE_", 30, QuadPlane, AC_WeatherVane), AP_SUBGROUPPTR(weathervane, "WVANE_", 30, QuadPlane, AC_WeatherVane),
// @Param: LAND_ALTCHG
// @DisplayName: Land detection altitude change threshold
// @Description: The maximum altitude change allowed during land detection. You can raise this value if you find that landing detection takes a long time to complete. It is the maximum change in altitude over a period of 4 seconds for landing to be detected
// @Units: m
// @Range: 0.1 0.6
// @Increment: 0.05
// @User: Standard
AP_GROUPINFO("LAND_ALTCHG", 31, QuadPlane, landing_detect.detect_alt_change, 0.2),
AP_GROUPEND AP_GROUPEND
}; };
@ -2991,7 +3000,7 @@ bool QuadPlane::land_detector(uint32_t timeout_ms)
// we only consider the vehicle landed when the motors have been // we only consider the vehicle landed when the motors have been
// at minimum for timeout_ms+1000 and the vertical position estimate has not // at minimum for timeout_ms+1000 and the vertical position estimate has not
// changed by more than 20cm for timeout_ms // changed by more than 20cm for timeout_ms
if (fabsf(height - landing_detect.vpos_start_m) > 0.2) { if (fabsf(height - landing_detect.vpos_start_m) > landing_detect.detect_alt_change) {
// height has changed, call off landing detection // height has changed, call off landing detection
landing_detect.land_start_ms = 0; landing_detect.land_start_ms = 0;
return false; return false;

3
ArduPlane/quadplane.h
View File

@ -402,6 +402,9 @@ private:
uint32_t lower_limit_start_ms; uint32_t lower_limit_start_ms;
uint32_t land_start_ms; uint32_t land_start_ms;
float vpos_start_m; float vpos_start_m;
// landing detection threshold in meters
AP_Float detect_alt_change;
} landing_detect; } landing_detect;
// throttle mix acceleration filter // throttle mix acceleration filter