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land_detector: fix too long lines in module documentation

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Beat Küng
2017-06-06 09:52:33 +02:00
parent eb17d4b5f3
commit 1c7941fc89
1 changed files with 10 additions and 8 deletions
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18
src/modules/land_detector/land_detector_main.cpp
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@@ -151,18 +151,20 @@ Each vehicle type (multirotor, fixedwing, vtol, ...) provides its own algorithm,
states, such as commanded thrust, arming state and vehicle motion.
### Implementation
Every type is implemented in its own class with a common base class. The base class maintains a state (landed, maybe_landed, ground_contact).
Each possible state is implemented in the derived classes. A hysteresis and a fixed priority of each internal state determines the actual land_detector
state.
Every type is implemented in its own class with a common base class. The base class maintains a state (landed,
maybe_landed, ground_contact). Each possible state is implemented in the derived classes. A hysteresis and a fixed
priority of each internal state determines the actual land_detector state.
#### Multicopter Land Detector
ground_contact: thrust setpoint and velocity in z-direction must be below a defined threshold for time GROUND_CONTACT_TRIGGER_TIME_US.
When ground_contact is detected, the position controller turns off the thrust setpoint in body x and y.
**ground_contact**: thrust setpoint and velocity in z-direction must be below a defined threshold for time
GROUND_CONTACT_TRIGGER_TIME_US. When ground_contact is detected, the position controller turns off the thrust setpoint
in body x and y.
maybe_landed: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the horizontal direction. The trigger
time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the position controller sets the thrust setpoint to zero.
**maybe_landed**: it requires ground_contact together with a tighter thrust setpoint threshold and no velocity in the
horizontal direction. The trigger time is defined by MAYBE_LAND_TRIGGER_TIME. When maybe_landed is detected, the
position controller sets the thrust setpoint to zero.
landed: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.
**landed**: it requires maybe_landed to be true for time LAND_DETECTOR_TRIGGER_TIME_US.
The module runs periodically on the HP work queue.
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