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This commit is contained in:
breadoven 2022-09-27 13:36:05 +01:00
parent 1ed8d9481f
commit 16be85975a
7 changed files with 32 additions and 9 deletions
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13
src/main/navigation/navigation_fixedwing.c
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@ -695,13 +695,15 @@ bool isFixedWingLandingDetected(void)
static timeMs_t fwLandingTimerStartAt;
static int16_t fwLandSetRollDatum;
static int16_t fwLandSetPitchDatum;
const float sensitivity = navConfig()->general.land_detect_sensitivity / 5.0f;
timeMs_t currentTimeMs = millis();
// Check horizontal and vertical volocities are low (cm/s)
bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < 50.0f && posControl.actualState.velXY < 100.0f;
// Check horizontal and vertical velocities are low (cm/s)
bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < (50.0f * sensitivity) &&
posControl.actualState.velXY < (100.0f * sensitivity);
// Check angular rates are low (degs/s)
bool gyroCondition = averageAbsGyroRates() < 2.0f;
bool gyroCondition = averageAbsGyroRates() < (2.0f * sensitivity);
DEBUG_SET(DEBUG_LANDING, 2, velCondition);
DEBUG_SET(DEBUG_LANDING, 3, gyroCondition);
@ -714,8 +716,9 @@ bool isFixedWingLandingDetected(void)
fixAxisCheck = true;
fwLandingTimerStartAt = currentTimeMs;
} else {
bool isRollAxisStatic = ABS(fwLandSetRollDatum - attitude.values.roll) < 5;
bool isPitchAxisStatic = ABS(fwLandSetPitchDatum - attitude.values.pitch) < 5;
const uint8_t angleLimit = 5 * sensitivity;
bool isRollAxisStatic = ABS(fwLandSetRollDatum - attitude.values.roll) < angleLimit;
bool isPitchAxisStatic = ABS(fwLandSetPitchDatum - attitude.values.pitch) < angleLimit;
DEBUG_SET(DEBUG_LANDING, 6, isRollAxisStatic);
DEBUG_SET(DEBUG_LANDING, 7, isPitchAxisStatic);
if (isRollAxisStatic && isPitchAxisStatic) {