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Copter: clean up land detector and modify to use desired velocity

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Jonathan Challinger 2015-01-12 15:25:11 -08:00 committed by Randy Mackay
parent a580cd83e8
commit 36410a5131
1 changed files with 7 additions and 8 deletions
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15
ArduCopter/control_land.pde
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@ -208,14 +208,13 @@ static bool land_complete_maybe()
// called at 50hz
static void update_land_detector()
{
// detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate
if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) &&
(abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX) &&
motors.limit.throttle_lower &&
#if FRAME_CONFIG != HELI_FRAME
(motors.get_throttle_out() < get_non_takeoff_throttle()) &&
#endif
(ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) {
bool climb_rate_small = abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX;
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 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;
if (climb_rate_small && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
if (!ap.land_complete) {
// increase counter until we hit the trigger then set land complete flag
if( land_detector < LAND_DETECTOR_TRIGGER) {