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Copter: formatting minor fix to land-complete-maybe threshold

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This commit is contained in:
Randy Mackay 2015-05-30 18:31:05 +09:00
parent fb82ac3eb3
commit b139dfedae
1 changed files with 9 additions and 9 deletions
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18
ArduCopter/land_detector.cpp
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@ -35,15 +35,15 @@ void Copter::update_land_detector()
} else {
#if FRAME_CONFIG == HELI_FRAME
// check that collective pitch is on lower limit (should be constrained by LAND_COL_MIN)
bool motor_at_lower_limit = motors.limit.throttle_lower;
// check that collective pitch is on lower limit (should be constrained by LAND_COL_MIN)
bool motor_at_lower_limit = motors.limit.throttle_lower;
#else
// check that the average throttle output is near minimum (less than 12.5% hover throttle)
bool motor_at_lower_limit = motors.limit.throttle_lower && motors.is_throttle_mix_min();
// check that the average throttle output is near minimum (less than 12.5% hover throttle)
bool motor_at_lower_limit = motors.limit.throttle_lower && motors.is_throttle_mix_min();
#endif
// check that the airframe is not accelerating (not falling or breaking after fast forward flight)
bool accel_stationary = (accel_ef.length() < 1.0f);
// check that the airframe is not accelerating (not falling or breaking after fast forward flight)
bool accel_stationary = (accel_ef.length() < 1.0f);
if (motor_at_lower_limit && accel_stationary) {
// landed criteria met - increment the counter and check if we've triggered
@ -52,13 +52,13 @@ void Copter::update_land_detector()
} else {
set_land_complete(true);
}
} else {
// we've sensed movement up or down so reset land_detector
} else {
// we've sensed movement up or down so reset land_detector
land_detector_count = 0;
}
}
set_land_complete_maybe(ap.land_complete || (land_detector_count > LAND_DETECTOR_MAYBE_TRIGGER_SEC*MAIN_LOOP_RATE));
set_land_complete_maybe(ap.land_complete || (land_detector_count >= LAND_DETECTOR_MAYBE_TRIGGER_SEC*MAIN_LOOP_RATE));
}
void Copter::set_land_complete(bool b)