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land_detector: set max height to 100

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This commit is contained in:
Dennis Mannhart
2017-02-27 20:54:23 +01:00
committed by Lorenz Meier
parent 6939583650
commit 7f54f891c1
4 changed files with 2 additions and 5 deletions
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src/modules/land_detector/LandDetector.cpp
-2
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@@ -127,12 +127,10 @@ void LandDetector::_cycle()
float alt_max_prev = _altitude_max;
_altitude_max = _get_max_altitude();
bool freefallDetected = (_state == LandDetectionState::FREEFALL);
bool landDetected = (_state == LandDetectionState::LANDED);
bool ground_contactDetected = (_state == LandDetectionState::GROUND_CONTACT);
// Only publish very first time or when the result has changed.
if ((_landDetectedPub == nullptr) ||
(_landDetected.freefall != freefallDetected) ||
src/modules/land_detector/MulticopterLandDetector.cpp
+1 -1
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@@ -288,7 +288,7 @@ float MulticopterLandDetector::_get_takeoff_throttle()
float MulticopterLandDetector::_get_max_altitude()
{
/* ToDo: add meaningful heights */
/* ToDo: add a meaningful altitude */
float valid_altitude_max = _params.altitude_max;
if (_battery.warning == battery_status_s::BATTERY_WARNING_LOW) {
src/modules/land_detector/land_detector_params.c
+1 -1
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@@ -224,4 +224,4 @@ PARAM_DEFINE_INT32(LND_FLIGHT_T_LO, 0);
* @group Land Detector
*
*/
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, 15.0f);
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, 100.0f);
src/modules/mc_pos_control/mc_pos_control_main.cpp
-1
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@@ -922,7 +922,6 @@ MulticopterPositionControl::reset_alt_sp()
void
MulticopterPositionControl::limit_altitude()
{
/* in altitude control, limit setpoint */
if (_run_alt_control && _pos_sp(2) <= -_vehicle_land_detected.alt_max) {
_pos_sp(2) = -_vehicle_land_detected.alt_max;