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FW land detector: reduce default for LNDFW_VEL_Z_MAX to 1m/s

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And remove 0.7 factor for airspeed-less flying for the vertical speed threshold.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-11-03 15:25:32 +01:00
parent 85e9c17a5e
commit 71835f57c9
2 changed files with 3 additions and 7 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+2 -4
View File
@@ -96,16 +96,14 @@ bool FixedwingLandDetector::_get_landed_state()
const float acc_hor = matrix::Vector2f(_acceleration).norm();
_xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f;
// make thresholds tighter if airspeed is invalid
// make groundspeed threshold tighter if airspeed is invalid
const float vel_xy_max_threshold = airspeed_invalid ? 0.7f * _param_lndfw_vel_xy_max.get() :
_param_lndfw_vel_xy_max.get();
const float vel_z_max_threshold = airspeed_invalid ? 0.7f * _param_lndfw_vel_z_max.get() :
_param_lndfw_vel_z_max.get();
// Crude land detector for fixedwing.
landDetected = _airspeed_filtered < _param_lndfw_airspd.get()
&& _velocity_xy_filtered < vel_xy_max_threshold
&& _velocity_z_filtered < vel_z_max_threshold
&& _velocity_z_filtered < _param_lndfw_vel_z_max.get()
&& _xy_accel_filtered < _param_lndfw_xyaccel_max.get();
} else {
src/modules/land_detector/land_detector_params_fw.c
+1 -3
View File
@@ -51,8 +51,6 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
* Fixed-wing land detector: Max vertiacal velocity threshold
*
* Maximum vertical velocity allowed in the landed state.
* A factor of 0.7 is applied in case of airspeed-less flying
* (either because no sensor is present or sensor data got invalid in flight).
*
* @unit m/s
* @min 0.1
@@ -61,7 +59,7 @@ PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);
*
* @group Land Detector
*/
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 2.0f);
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 1.0f);
/**
* Fixed-wing land detector: Max horizontal acceleration