From 3317259e798b31ff407e07188f3080f6dbccf478 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 15 Mar 2014 11:56:04 +0100 Subject: integrate range finder into fw landing --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 10 ++++++++++ 1 file changed, 10 insertions(+) (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c') diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 0909135e1..8ec0f0027 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -375,3 +375,13 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); * @group L1 Control */ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); + +/** + * Landing relative altitude threshold for range finder measurements + * + * range finder measurements will only be used below FW_LND_RFRALT estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) + * set to -1 to disable + * + * @group L1 Control + */ +PARAM_DEFINE_FLOAT(FW_LND_RFRALT, 30.0f); -- cgit v1.2.3 From 37d2cff83d3ecd697afb13a991b3c96133178318 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 15 Mar 2014 16:03:26 +0100 Subject: set range finder to disabled as default --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c') diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 8ec0f0027..9e2402447 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -384,4 +384,4 @@ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); * * @group L1 Control */ -PARAM_DEFINE_FLOAT(FW_LND_RFRALT, 30.0f); +PARAM_DEFINE_FLOAT(FW_LND_RFRALT, -1.0f); -- cgit v1.2.3 From 3074bced5666934abf348c9fb2fc4bd4f4b6ca57 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Sat, 15 Mar 2014 16:59:20 +0100 Subject: fix comment for FW_LND_RFRALT --- src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c') diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c index 9e2402447..534e8d110 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c @@ -377,10 +377,11 @@ PARAM_DEFINE_FLOAT(FW_LND_TLALT, 5.0f); PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f); /** - * Landing relative altitude threshold for range finder measurements + * Relative altitude threshold for range finder measurements for use during landing * - * range finder measurements will only be used below FW_LND_RFRALT estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) - * set to -1 to disable + * range finder measurements will only be used if the estimated relative altitude (gobal_pos.alt - landing_waypoint.alt) is < FW_LND_RFRALT + * set to < 0 to disable + * the correct value of this parameter depends on your range measuring device as well as on the terrain at the landing location * * @group L1 Control */ -- cgit v1.2.3