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Land detector: Fix hover throttle detection

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Lorenz Meier
2017-01-19 18:56:03 +01:00
committed by Lorenz Meier
parent f297c45f78
commit 9448b8cb52
2 changed files with 6 additions and 1 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+4 -1
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@@ -73,6 +73,7 @@ MulticopterLandDetector::MulticopterLandDetector() : LandDetector(),
_paramHandle.maxVelocity = param_find("LNDMC_XY_VEL_MAX");
_paramHandle.maxClimbRate = param_find("LNDMC_Z_VEL_MAX");
_paramHandle.minThrottle = param_find("MPC_THR_MIN");
_paramHandle.hoverThrottleAuto = param_find("MPC_THR_HOVER");
_paramHandle.minManThrottle = param_find("MPC_MANTHR_MIN");
_paramHandle.freefall_acc_threshold = param_find("LNDMC_FFALL_THR");
_paramHandle.freefall_trigger_time = param_find("LNDMC_FFALL_TTRI");
@@ -109,6 +110,7 @@ void MulticopterLandDetector::_update_params()
param_get(_paramHandle.maxRotation, &_params.maxRotation_rad_s);
_params.maxRotation_rad_s = math::radians(_params.maxRotation_rad_s);
param_get(_paramHandle.minThrottle, &_params.minThrottle);
param_get(_paramHandle.hoverThrottleAuto, &_params.hoverThrottleAuto);
param_get(_paramHandle.minManThrottle, &_params.minManThrottle);
param_get(_paramHandle.freefall_acc_threshold, &_params.freefall_acc_threshold);
param_get(_paramHandle.freefall_trigger_time, &_params.freefall_trigger_time);
@@ -141,7 +143,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// Time base for this function
const uint64_t now = hrt_absolute_time();
float sys_min_throttle = (_params.minThrottle + 0.2f);
// 10% of throttle range between min and hover
float sys_min_throttle = _params.minThrottle + (_params.hoverThrottleAuto - _params.minThrottle) * 0.1f;
// Determine the system min throttle based on flight mode
if (!_control_mode.flag_control_altitude_enabled) {
src/modules/land_detector/MulticopterLandDetector.h
+2
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@@ -84,6 +84,7 @@ private:
param_t maxVelocity;
param_t maxRotation;
param_t minThrottle;
param_t hoverThrottleAuto;
param_t minManThrottle;
param_t freefall_acc_threshold;
param_t freefall_trigger_time;
@@ -94,6 +95,7 @@ private:
float maxVelocity;
float maxRotation_rad_s;
float minThrottle;
float hoverThrottleAuto;
float minManThrottle;
float freefall_acc_threshold;
float freefall_trigger_time;