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Code Issues Wiki Activity

Collision Detection (#13010)

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Jan Post 2024-11-30 17:20:15 +01:00 • committed by GitHub
parent cfa5f0b2a1
commit db44e9df9e
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7 changed files with 99 additions and 56 deletions
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6
src/main/flight/pid.c
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@ -939,8 +939,8 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
#ifdef USE_ALT_HOLD_MODE
lowAltitudeSensitivity = (FLIGHT_MODE(ALT_HOLD_MODE) && isBelowLandingAltitude()) ? 1.5f : 1.0f;
#endif
// and disarm if accelerometer jerk exceeds threshold...
if ((fabsf(acc.accDelta) * lowAltitudeSensitivity) > pidRuntime.landingDisarmThreshold) {
// and disarm if jerk exceeds threshold...
if ((acc.jerkMagnitude * lowAltitudeSensitivity) > pidRuntime.landingDisarmThreshold) {
// then disarm
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH); // NB: need a better message
disarm(DISARM_REASON_LANDING);
@ -948,7 +948,7 @@ static FAST_CODE_NOINLINE void disarmOnImpact(void)
}
}
DEBUG_SET(DEBUG_EZLANDING, 6, lrintf(getMaxRcDeflectionAbs() * 100.0f));
DEBUG_SET(DEBUG_EZLANDING, 7, lrintf(acc.accDelta));
DEBUG_SET(DEBUG_EZLANDING, 7, lrintf(acc.jerkMagnitude * 1e3f));
}
#ifdef USE_LAUNCH_CONTROL