From 36410a5131969140413d2fa7afe07f2483e50a82 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Mon, 12 Jan 2015 15:25:11 -0800
Subject: [PATCH] Copter: clean up land detector and modify to use desired
velocity
---
ArduCopter/control_land.pde | 15 +++++++--------
1 file changed, 7 insertions(+), 8 deletions(-)
diff --git a/ArduCopter/control_land.pde b/ArduCopter/control_land.pde
index feed45a11..d9ebce565 100644
--- a/ArduCopter/control_land.pde
+++ b/ArduCopter/control_land.pde
@@ -208,14 +208,13 @@ static bool land_complete_maybe()
// called at 50hz
static void update_land_detector()
{
- // detect whether we have landed by watching for low climb rate, motors hitting their lower limit, overall low throttle and low rotation rate
- if ((abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX) &&
- (abs(baro_climbrate) < LAND_DETECTOR_BARO_CLIMBRATE_MAX) &&
- motors.limit.throttle_lower &&
-#if FRAME_CONFIG != HELI_FRAME
- (motors.get_throttle_out() < get_non_takeoff_throttle()) &&
-#endif
- (ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX)) {
+ bool climb_rate_small = abs(climb_rate) < LAND_DETECTOR_CLIMBRATE_MAX;
+ bool target_climb_rate_low = !pos_control.is_active_z() || pos_control.get_desired_velocity().z < LAND_SPEED;
+ bool motor_at_lower_limit = motors.limit.throttle_lower;
+ bool throttle_low = FRAME_CONFIG == HELI_FRAME || motors.get_throttle_out() < get_non_takeoff_throttle();
+ bool not_rotating_fast = ahrs.get_gyro().length() < LAND_DETECTOR_ROTATION_MAX;
+
+ if (climb_rate_small && target_climb_rate_low && motor_at_lower_limit && throttle_low && not_rotating_fast) {
if (!ap.land_complete) {
// increase counter until we hit the trigger then set land complete flag
if( land_detector < LAND_DETECTOR_TRIGGER) {
--
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