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Copter: remove unused landing detector definitions

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Also separate from land mode definitions
This commit is contained in:
Randy Mackay 2015-06-17 20:34:35 +09:00
parent 322a61635f
commit e9829e0d82
1 changed files with 13 additions and 18 deletions
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31
ArduCopter/config.h
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@ -398,24 +398,6 @@
#ifndef LAND_START_ALT #ifndef LAND_START_ALT
# define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent # define LAND_START_ALT 1000 // altitude in cm where land controller switches to slow rate of descent
#endif #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 #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 # 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 #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 # define LAND_WITH_DELAY_MS 4000 // default delay (in milliseconds) when a land-with-delay is triggered during a failsafe event
#endif #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 // CAMERA TRIGGER AND CONTROL
// //