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MC land detector: remove LNDMC_THR_RANGE param 

- no airframe changes the default
- it does not make much sense to be able to configure the 0.1 threshold
  but the 0.3 threshold for ground contact detection cannot be configured.
This commit is contained in:
Beat Küng 2018-10-08 13:53:51 +02:00
parent d69cba5db9
commit a9def8be93
3 changed files with 1 additions and 21 deletions
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4
src/modules/land_detector/MulticopterLandDetector.cpp
View File

@ -75,7 +75,6 @@ MulticopterLandDetector::MulticopterLandDetector()
_paramHandle.maxRotation = param_find("LNDMC_ROT_MAX");
_paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX");
_paramHandle.maxClimbRate = param_find("LNDMC_Z_VEL_MAX");
_paramHandle.throttleRange = param_find("LNDMC_THR_RANGE");
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.hoverThrottle = param_find("MPC_THR_HOVER");
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
@ -121,7 +120,6 @@ void MulticopterLandDetector::_update_params()
_params.maxRotation_rad_s = math::radians(_params.maxRotation_rad_s);
param_get(_paramHandle.minThrottle, &_params.minThrottle);
param_get(_paramHandle.hoverThrottle, &_params.hoverThrottle);
param_get(_paramHandle.throttleRange, &_params.throttleRange);
param_get(_paramHandle.minManThrottle, &_params.minManThrottle);
param_get(_paramHandle.freefall_acc_threshold, &_params.freefall_acc_threshold);
param_get(_paramHandle.freefall_trigger_time, &_params.freefall_trigger_time);
@ -320,7 +318,7 @@ bool MulticopterLandDetector::_has_low_thrust()
bool MulticopterLandDetector::_has_minimal_thrust()
{
// 10% of throttle range between min and hover once we entered ground contact
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * _params.throttleRange;
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottle - _params.minThrottle) * 0.1f;
// Determine the system min throttle based on flight mode
if (!_control_mode.flag_control_climb_rate_enabled) {

2
src/modules/land_detector/MulticopterLandDetector.h
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@ -101,7 +101,6 @@ private:
param_t maxRotation;
param_t minThrottle;
param_t hoverThrottle;
param_t throttleRange;
param_t minManThrottle;
param_t freefall_acc_threshold;
param_t freefall_trigger_time;
@ -115,7 +114,6 @@ private:
float maxRotation_rad_s;
float minThrottle;
float hoverThrottle;
float throttleRange;
float minManThrottle;
float freefall_acc_threshold;
float freefall_trigger_time;

16
src/modules/land_detector/land_detector_params_mc.c
View File

@ -81,22 +81,6 @@ PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);
*/
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);
/**
* Multicopter sub-hover throttle scaling
*
* The range between throttle_min and throttle_hover is scaled
* by this parameter to define how close to minimum throttle
* the current throttle value needs to be in order to get
* accepted as landed.
*
* @min 0.05
* @max 0.5
* @decimal 2
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);
/**
* Multicopter free-fall trigger time
*