From 63d0cddfa4e8909b2533dbbf234ef3015c8bdb43 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 25 Aug 2014 17:25:32 +0900
Subject: [PATCH] Copter: make landing detector more strict
Made more strict by requiring 50 consecutive iterations where the climb
rate is below +- 40cm/s. Previously it was 50 cumulative.
Removed check of failsafe.radio when clearing the land flag because it
could result in the vehicle taking off if the user picked it up.
---
ArduCopter/control_land.pde | 14 ++++++--------
1 file changed, 6 insertions(+), 8 deletions(-)
diff --git a/ArduCopter/control_land.pde b/ArduCopter/control_land.pde
index b85e44c84..45d29e4f9 100644
--- a/ArduCopter/control_land.pde
+++ b/ArduCopter/control_land.pde
@@ -188,13 +188,13 @@ static float get_throttle_land()
}
// update_land_detector - checks if we have landed and updates the ap.land_complete flag
-// returns true if we have landed
-static bool update_land_detector()
+// called at 50hz
+static void update_land_detector()
{
// detect whether we have landed by watching for low climb rate and minimum throttle
if (abs(climb_rate) < 40 && motors.limit.throttle_lower) {
if (!ap.land_complete) {
- // run throttle controller if accel based throttle controller is enabled and active (active means it has been given a target)
+ // increase counter until we hit the trigger then set land complete flag
if( land_detector < LAND_DETECTOR_TRIGGER) {
land_detector++;
}else{
@@ -202,16 +202,14 @@ static bool update_land_detector()
land_detector = 0;
}
}
- } else if ((motors.get_throttle_out() > get_non_takeoff_throttle()) || failsafe.radio) {
+ } else {
// we've sensed movement up or down so reset land_detector
land_detector = 0;
- if(ap.land_complete) {
+ // if throttle output is high then clear landing flag
+ if (motors.get_throttle_out() > get_non_takeoff_throttle()) {
set_land_complete(false);
}
}
-
- // return current state of landing
- return ap.land_complete;
}
// land_do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch
--
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