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landdetector + mc_pos_control cherry-pick fix

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Dennis Mannhart
2017-07-10 10:22:23 +02:00
committed by Lorenz Meier
parent 69ecfef8a4
commit e6f7af2dcf
2 changed files with 3 additions and 2 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+2 -1
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@@ -224,7 +224,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact // If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
// TODO: we need an accelerometer based check for vertical movement for flying without GPS // TODO: we need an accelerometer based check for vertical movement for flying without GPS
if (manual_control_idle_or_auto && _has_low_thrust() && (!horizontalMovement || !_has_position_lock()) && if (manual_control_idle_or_auto && (_has_low_thrust() || hit_ground) && (!horizontalMovement || !_has_position_lock())
&&
(!verticalMovement || !_has_altitude_lock())) { (!verticalMovement || !_has_altitude_lock())) {
return true; return true;
} }
src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
View File
@@ -1807,7 +1807,7 @@ MulticopterPositionControl::calculate_thrust_setpoint(float dt)
thrust_sp(1) = 0.0f; thrust_sp(1) = 0.0f;
} }
if (!in_auto_takeoff) { if (!in_auto_takeoff()) {
if (_vehicle_land_detected.ground_contact) { if (_vehicle_land_detected.ground_contact) {
/* if still or already on ground command zero xy thrust_sp in body /* if still or already on ground command zero xy thrust_sp in body
* frame to consider uneven ground */ * frame to consider uneven ground */