forked from Archive/PX4-Autopilot
Fix land detection for altitude hold
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@ -53,6 +53,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
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_armingSub(-1),
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_parameterSub(-1),
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_attitudeSub(-1),
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_manualSub(-1),
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_vehicleLocalPosition{},
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_actuators{},
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_arming{},
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@ -73,6 +74,7 @@ void MulticopterLandDetector::initialize()
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_actuatorsSub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS);
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_armingSub = orb_subscribe(ORB_ID(actuator_armed));
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_parameterSub = orb_subscribe(ORB_ID(parameter_update));
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_manualSub = orb_subscribe(ORB_ID(manual_control_setpoint));
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// download parameters
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updateParameterCache(true);
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@ -84,6 +86,7 @@ void MulticopterLandDetector::updateSubscriptions()
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orb_update(ORB_ID(vehicle_attitude), _attitudeSub, &_vehicleAttitude);
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orb_update(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, _actuatorsSub, &_actuators);
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orb_update(ORB_ID(actuator_armed), _armingSub, &_arming);
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orb_update(ORB_ID(manual_control_setpoint), _manualSub, &_manual);
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}
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bool MulticopterLandDetector::update()
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@ -107,6 +110,11 @@ bool MulticopterLandDetector::get_landed_state()
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_arming_time = hrt_absolute_time();
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}
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// Check if user commands throttle and if so, report not landed
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if (_manual.z > 0.3f) {
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return false;
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}
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// Check if thrust output is less than max throttle param.
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bool minimalThrust = _actuators.control[3] <= _params.maxThrottle;
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@ -49,6 +49,7 @@
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#include <uORB/topics/actuator_controls.h>
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#include <uORB/topics/actuator_armed.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/manual_control_setpoint.h>
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#include <systemlib/param/param.h>
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class MulticopterLandDetector : public LandDetector
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@ -107,11 +108,13 @@ private:
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int _armingSub;
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int _parameterSub;
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int _attitudeSub;
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int _manualSub;
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struct vehicle_local_position_s _vehicleLocalPosition;
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struct actuator_controls_s _actuators;
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struct actuator_armed_s _arming;
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struct vehicle_attitude_s _vehicleAttitude;
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struct manual_control_setpoint_s _manual;
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/* timestamp in microseconds since a possible land was detected */
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uint64_t _landTimer;
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