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This commit is contained in:
Emmanuel Roussel
2016-04-15 11:06:51 +02:00
committed by Roman
parent ec427f61c4
commit b3841e5ea5
1 changed files with 2 additions and 2 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+2 -2
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@@ -128,8 +128,8 @@ bool MulticopterLandDetector::get_freefall_state()
const uint64_t now = hrt_absolute_time();
float acc_norm = _ctrl_state.x_acc * _ctrl_state.x_acc
+ _ctrl_state.y_acc * _ctrl_state.y_acc
+ _ctrl_state.z_acc * _ctrl_state.z_acc;
+ _ctrl_state.y_acc * _ctrl_state.y_acc
+ _ctrl_state.z_acc * _ctrl_state.z_acc;
acc_norm = sqrtf(acc_norm); //norm of specific force. Should be close to 9.8 m/s^2 when landed.
bool freefall = (acc_norm < _params.acc_threshold_m_s2); //true if we are currently falling