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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-08 22:23:18 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-08 22:23:18 +0400 |
| commit | 523606668f8c940357cd9c46b0995035eced7659 (patch) | |
| tree | b52e5478e253d795862b754ea4d82c2a6ba7785c /src | |
| parent | 13be060dae1bca1f4a38970a88a48243ab54d185 (diff) | |
| download | px4-firmware-523606668f8c940357cd9c46b0995035eced7659.tar.gz px4-firmware-523606668f8c940357cd9c46b0995035eced7659.tar.bz2 px4-firmware-523606668f8c940357cd9c46b0995035eced7659.zip | |
position_estimator_inav: make land detector more sensitive to LANDED -> IN AIR transitions
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 2 |
2 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 368fa6ee2..763b87563 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -763,7 +763,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float thrust = armed.armed ? actuator.control[3] : 0.0f; if (landed) { - if (alt_disp2 > land_disp2 && thrust > params.land_thr) { + if (alt_disp2 > land_disp2 || thrust > params.land_thr) { landed = false; landed_time = 0; } diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index b71f9472f..dcad5c03b 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -56,7 +56,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); -PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f); +PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f); int parameters_init(struct position_estimator_inav_param_handles *h) { |