build

docs/Settings.md

@@ -3342,6 +3342,16 @@ Deadband for heading trajectory PID controller. When heading error is below the
 
 ---
 
+### nav_land_detect_sensitivity
+
+Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 5 | 1 | 15 |
+
+---
+
 ### nav_land_maxalt_vspd
 
 Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s]

src/main/fc/settings.yaml

@@ -2392,6 +2392,12 @@ groups:
         default_value: OFF
         field: general.flags.disarm_on_landing
         type: bool
+      - name: nav_land_detect_sensitivity
+        description: "Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases."
+        default_value: 5
+        field: general.land_detect_sensitivity
+        min: 1
+        max: 15
       - name: nav_use_midthr_for_althold
         description: "If set to OFF, the FC remembers your throttle stick position when enabling ALTHOLD and treats it as a neutral midpoint for holding altitude"
         default_value: OFF

src/main/navigation/navigation.c

@@ -152,6 +152,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .max_altitude = SETTING_NAV_MAX_ALTITUDE_DEFAULT,
         .rth_trackback_distance = SETTING_NAV_RTH_TRACKBACK_DISTANCE_DEFAULT,                   // Max distance allowed for RTH trackback
         .waypoint_enforce_altitude = SETTING_NAV_WP_ENFORCE_ALTITUDE_DEFAULT,                   // Forces set wp altitude to be achieved
+        .land_detect_sensitivity = SETTING_NAV_LAND_DETECT_SENSITIVITY_DEFAULT,                 // Changes sensitivity of landing detection
     },
 
     // MC-specific

src/main/navigation/navigation.h

@@ -263,6 +263,7 @@ typedef struct navConfig_s {
         uint16_t max_altitude;                      // Max altitude when in AltHold mode (not Surface Following)
         uint16_t rth_trackback_distance;            // RTH trackback maximum distance [m]
         uint16_t waypoint_enforce_altitude;         // Forces waypoint altitude to be achieved
+        uint8_t  land_detect_sensitivity;           // Sensitivity of landing detector
     } general;
 
     struct {

src/main/navigation/navigation_fixedwing.c

@@ -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)
+    // Check horizontal and vertical velocities are low (cm/s)
-    bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < 50.0f && posControl.actualState.velXY < 100.0f;
+    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;
+            const uint8_t angleLimit = 5 * sensitivity;
-            bool isPitchAxisStatic = ABS(fwLandSetPitchDatum - attitude.values.pitch) < 5;
+            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) {

src/main/navigation/navigation_multicopter.c

@@ -737,11 +737,13 @@ bool isMulticopterLandingDetected(void)
         return posControl.flags.resetLandingDetector = false;
     }
 
+    const float sensitivity = navConfig()->general.land_detect_sensitivity / 5.0f;
+
     // check vertical and horizontal velocities are low (cm/s)
-    bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < MC_LAND_CHECK_VEL_Z_MOVING &&
+    bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < (MC_LAND_CHECK_VEL_Z_MOVING * sensitivity) &&
-                        posControl.actualState.velXY < MC_LAND_CHECK_VEL_XY_MOVING;
+                        posControl.actualState.velXY < (MC_LAND_CHECK_VEL_XY_MOVING * sensitivity);
     // check gyro rates are low (degs/s)
-    bool gyroCondition = averageAbsGyroRates() < 2.0f;
+    bool gyroCondition = averageAbsGyroRates() < (4.0f * sensitivity);
     DEBUG_SET(DEBUG_LANDING, 2, velCondition);
     DEBUG_SET(DEBUG_LANDING, 3, gyroCondition);
 

src/main/navigation/navigation_private.h

@@ -40,7 +40,7 @@
 #define MC_POS_CONTROL_JERK_LIMIT_CMSSS     1700.0f // jerk limit on horizontal acceleration (cm/s^3)
 
 #define MC_LAND_CHECK_VEL_XY_MOVING         100.0f  // cm/s
-#define MC_LAND_CHECK_VEL_Z_MOVING          25.0f   // cm/s
+#define MC_LAND_CHECK_VEL_Z_MOVING          100.0f  // cm/s
 #define MC_LAND_THR_STABILISE_DELAY         1       // seconds
 #define MC_LAND_DESCEND_THROTTLE            40      // uS
 #define MC_LAND_SAFE_SURFACE                5.0f    // cm