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land_detector: don't estimate freefall on 0 data

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Julian Oes
2016-06-05 14:36:43 +02:00
committed by Lorenz Meier
parent b2719cf439
commit f56e951f00
1 changed files with 5 additions and 0 deletions
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src/modules/land_detector/MulticopterLandDetector.cpp
+5
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@@ -135,6 +135,11 @@ bool MulticopterLandDetector::get_freefall_state()
const uint64_t now = hrt_absolute_time();
if (_ctrl_state.timestamp == 0) {
// _ctrl_state is not valid yet, we have to assume we're not falling.
return false;
}
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;