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position_estimator_inav: make land detector more sensitive to LANDED -> IN AIR transitions

This commit is contained in:
Anton Babushkin 2014-04-08 22:23:18 +04:00
parent 13be060dae
commit 523606668f
2 changed files with 2 additions and 2 deletions
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2
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -763,7 +763,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float thrust = armed.armed ? actuator.control[3] : 0.0f;
if (landed) {
if (alt_disp2 > land_disp2 && thrust > params.land_thr) {
if (alt_disp2 > land_disp2 || thrust > params.land_thr) {
landed = false;
landed_time = 0;
}

2
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -56,7 +56,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);
PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
int parameters_init(struct position_estimator_inav_param_handles *h)
{