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land_detector: continue respecting hover thrust throughout descent

This commit is contained in:
Daniel Agar 2021-03-06 22:19:37 -05:00 committed by Mathieu Bresciani
parent 1fa08c3997
commit 68c171fd4f
2 changed files with 9 additions and 2 deletions
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10
src/modules/land_detector/MulticopterLandDetector.cpp
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@ -161,7 +161,6 @@ bool MulticopterLandDetector::_get_ground_contact_state()
const hrt_abstime time_now_us = hrt_absolute_time();
const bool lpos_available = ((time_now_us - _vehicle_local_position.timestamp) < 1_s);
const bool hover_thrust_estimate_valid = ((time_now_us - _hover_thrust_estimate_last_valid) < 1_s);
// land speed threshold, 90% of MPC_LAND_SPEED
const float land_speed_threshold = 0.9f * math::max(_params.landSpeed, 0.1f);
@ -200,8 +199,15 @@ bool MulticopterLandDetector::_get_ground_contact_state()
_below_gnd_effect_hgt = false;
}
const bool hover_thrust_estimate_valid = ((time_now_us - _hover_thrust_estimate_last_valid) < 1_s);
if (!_in_descend || hover_thrust_estimate_valid) {
// continue using valid hover thrust if it became invalid during descent
_hover_thrust_estimate_valid = hover_thrust_estimate_valid;
}
// low thrust: 30% of throttle range between min and hover, relaxed to 60% if hover thrust estimate available
const float thr_pct_hover = hover_thrust_estimate_valid ? 0.6f : 0.3f;
const float thr_pct_hover = _hover_thrust_estimate_valid ? 0.6f : 0.3f;
const float sys_low_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * thr_pct_hover;
bool ground_contact = (_actuator_controls_throttle <= sys_low_throttle);

1
src/modules/land_detector/MulticopterLandDetector.h
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@ -117,6 +117,7 @@ private:
uORB::Subscription _takeoff_status_sub{ORB_ID(takeoff_status)};
hrt_abstime _hover_thrust_estimate_last_valid{0};
bool _hover_thrust_estimate_valid{false};
bool _flag_control_climb_rate_enabled{false};
bool _hover_thrust_initialized{false};