3 files changed, 4 insertions, 5 deletions
diff --git a/src/modules/fw_land_detector/FixedwingLandDetector.h b/src/modules/fw_land_detector/FixedwingLandDetector.h
index 6a0f951dd..900445740 100644
--- a/src/modules/fw_land_detector/FixedwingLandDetector.h
+++ b/src/modules/fw_land_detector/FixedwingLandDetector.h
@@ -33,10 +33,9 @@
 
 /**
  * @file FixedwingLandDetector.h
- * Land detection algorithm for multicopters
+ * Land detection algorithm for fixedwing
  *
  * @author Johan Jansen <jnsn.johan@gmail.com>
- * @author Morten Lysgaard <Morten@mycptr.com>
  */
 
 #ifndef __FIXED_WING_LAND_DETECTOR_H__
diff --git a/src/modules/mc_land_detector/MulticopterLandDetector.cpp b/src/modules/mc_land_detector/MulticopterLandDetector.cpp
index 63dc54d5e..90b36a795 100644
--- a/src/modules/mc_land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/mc_land_detector/MulticopterLandDetector.cpp
@@ -147,6 +147,7 @@ void MulticopterLandDetector::landDetectorLoop()
             //Check if we are moving vertically
             bool verticalMovement = fabsf(_vehicleGlobalPosition.vel_d) > MC_LAND_DETECTOR_CLIMBRATE_MAX;
 
+            //Check if we are moving horizontally
             bool horizontalMovement = sqrtf(_vehicleGlobalPosition.vel_n*_vehicleGlobalPosition.vel_n 
                 + _vehicleGlobalPosition.vel_e*_vehicleGlobalPosition.vel_e) > MC_LAND_DETECTOR_VELOCITY_MAX;
 
@@ -165,8 +166,8 @@ void MulticopterLandDetector::landDetectorLoop()
 
         }
 
-        // if we have detected a landing for 2 continious seconds
-        if(now-_landTimer > 2000000) {
+        // if we have detected a landing for 2 continuous seconds
+        if(now-_landTimer > MC_LAND_DETECTOR_TRIGGER_TIME) {
             if(!_landDetected.landed)
             {
                 _landDetected.timestamp = now;
diff --git a/src/modules/mc_land_detector/MulticopterLandDetector.h b/src/modules/mc_land_detector/MulticopterLandDetector.h
index 7421898c1..1aeaa0d62 100644
--- a/src/modules/mc_land_detector/MulticopterLandDetector.h
+++ b/src/modules/mc_land_detector/MulticopterLandDetector.h
@@ -50,7 +50,6 @@
 #include <uORB/topics/actuator_controls.h>
 #include <uORB/topics/actuator_armed.h>
 
-//TODO: add crash detection to this module?
 class MulticopterLandDetector {
 public:
         MulticopterLandDetector();