From e9829e0d82d2a43859ccc8072f53e93884acd2b4 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 17 Jun 2015 20:34:35 +0900 Subject: [PATCH] Copter: remove unused landing detector definitions Also separate from land mode definitions --- ArduCopter/config.h | 31 +++++++++++++------------------ 1 file changed, 13 insertions(+), 18 deletions(-) diff --git a/ArduCopter/config.h b/ArduCopter/config.h index 7258aeca87..7328c8a9e5 100644 --- a/ArduCopter/config.h +++ b/ArduCopter/config.h @@ -398,24 +398,6 @@ #ifndef LAND_START_ALT # define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent #endif -#ifndef LAND_DETECTOR_TRIGGER_SEC - # define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing -#endif -#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC - # define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of 50hz iterations with near zero climb rate and low throttle that means we might be landed (used to reset horizontal position targets to prevent tipping over) -#endif -#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF -# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter -#endif -#ifndef LAND_DETECTOR_CLIMBRATE_MAX -# define LAND_DETECTOR_CLIMBRATE_MAX 30 // vehicle climb rate must be between -30 and +30 cm/s -#endif -#ifndef LAND_DETECTOR_DESIRED_CLIMBRATE_MAX -# define LAND_DETECTOR_DESIRED_CLIMBRATE_MAX -20 // vehicle desired climb rate must be below -20cm/s -#endif -#ifndef LAND_DETECTOR_ROTATION_MAX - # define LAND_DETECTOR_ROTATION_MAX 0.50f // vehicle rotation must be below 0.5 rad/sec (=30deg/sec for) vehicle to consider itself landed -#endif #ifndef LAND_REQUIRE_MIN_THROTTLE_TO_DISARM # define LAND_REQUIRE_MIN_THROTTLE_TO_DISARM DISABLED // we do not require pilot to reduce throttle to minimum before vehicle will disarm in AUTO, LAND or RTL #endif @@ -426,6 +408,19 @@ # define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event #endif +////////////////////////////////////////////////////////////////////////////// +// Landing Detector +// +#ifndef LAND_DETECTOR_TRIGGER_SEC + # define LAND_DETECTOR_TRIGGER_SEC 1.0f // number of seconds to detect a landing +#endif +#ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC + # define LAND_DETECTOR_MAYBE_TRIGGER_SEC 0.2f // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over) +#endif +#ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF +# define LAND_DETECTOR_ACCEL_LPF_CUTOFF 1.0f // frequency cutoff of land detector accelerometer filter +#endif + ////////////////////////////////////////////////////////////////////////////// // CAMERA TRIGGER AND CONTROL //