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MCLandDetector: clean up logic for ground effect

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Before: in_ground_effect was always true with the default settings (LNDMC_ALT_GND =-1)
 and when a distance sensor was present with valid data.
Now: default of LNDMC_ALT_GND is set to 2m by default, and if set to a negative value
then in_ground_effect is never set to true

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-01-11 16:44:11 +01:00
parent 443406ea2b
commit 3cd1e0ce19
3 changed files with 3 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/MulticopterLandDetector.cpp
+2 -12
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@@ -187,8 +187,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
_horizontal_movement = false; // not known _horizontal_movement = false; // not known
} }
if (lpos_available && _vehicle_local_position.dist_bottom_valid) { if (lpos_available && _vehicle_local_position.dist_bottom_valid && _param_lndmc_alt_gnd_effect.get() > 0) {
_below_gnd_effect_hgt = _vehicle_local_position.dist_bottom < _get_gnd_effect_altitude(); _below_gnd_effect_hgt = _vehicle_local_position.dist_bottom < _param_lndmc_alt_gnd_effect.get();
} else { } else {
_below_gnd_effect_hgt = false; _below_gnd_effect_hgt = false;
@@ -323,16 +323,6 @@ bool MulticopterLandDetector::_get_landed_state()
return _maybe_landed_hysteresis.get_state(); return _maybe_landed_hysteresis.get_state();
} }
float MulticopterLandDetector::_get_gnd_effect_altitude()
{
if (_param_lndmc_alt_gnd_effect.get() < 0.0f) {
return INFINITY;
} else {
return _param_lndmc_alt_gnd_effect.get();
}
}
bool MulticopterLandDetector::_get_ground_effect_state() bool MulticopterLandDetector::_get_ground_effect_state()
{ {
return (_in_descend && !_horizontal_movement) || return (_in_descend && !_horizontal_movement) ||
src/modules/land_detector/MulticopterLandDetector.h
-2
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@@ -79,8 +79,6 @@ protected:
void _set_hysteresis_factor(const int factor) override; void _set_hysteresis_factor(const int factor) override;
private: private:
float _get_gnd_effect_altitude();
bool _is_close_to_ground(); bool _is_close_to_ground();
/** Time in us that freefall has to hold before triggering freefall */ /** Time in us that freefall has to hold before triggering freefall */
src/modules/land_detector/land_detector_params_mc.c
+1 -1
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@@ -113,4 +113,4 @@ PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);
* @group Land Detector * @group Land Detector
* *
*/ */
PARAM_DEFINE_FLOAT(LNDMC_ALT_GND, -1.0f); PARAM_DEFINE_FLOAT(LNDMC_ALT_GND, 2.f);