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land_detector: ground detection corrected comment and clarified condition

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Matthias Grob
2017-02-09 14:48:15 +01:00
committed by Lorenz Meier
parent 9963cf532d
commit 194f0c1de8
1 changed files with 4 additions and 3 deletions
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7
src/modules/land_detector/MulticopterLandDetector.cpp
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@@ -158,7 +158,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// Check if user commands throttle and if so, report no ground contact based on
// the user intent to take off (even if the system might physically still have
// ground contact at this point).
const bool manual_control_move_down = _has_manual_control_present() && _manual.z < 0.05f;
const bool manual_control_idle = (_has_manual_control_present() && _manual.z < 0.05f);
const bool manual_control_idle_or_auto = manual_control_idle || !_control_mode.flag_control_manual_enabled;
// Widen acceptance thresholds for landed state right after arming
// so that motor spool-up and other effects do not trigger false negatives.
@@ -173,9 +174,9 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// an accurate in-air indication.
bool verticalMovement = fabsf(_vehicleLocalPosition.vz) > _params.maxClimbRate * armThresholdFactor;
// If pilots commands fully down or already below minimal thrust because of auto land and we do not move down we assume ground contact
// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
// TODO: we need an accelerometer based check for vertical movement for flying without GPS
if (((manual_control_move_down || !_control_mode.flag_control_manual_enabled) && _has_minimal_thrust()) &&
if (manual_control_idle_or_auto && _has_minimal_thrust() &&
(!verticalMovement || !_has_position_lock())) {
return true;
}