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fixed landing detection with GPS fix estimation

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This commit is contained in:
Roman Lut 2023-03-08 16:04:36 +01:00
parent a10b7ceaad
commit 20cdfc8935
1 changed files with 1 additions and 1 deletions
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src/main/navigation/navigation_fixedwing.c
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@ -715,7 +715,7 @@ bool isFixedWingLandingDetected(void)
// Check horizontal and vertical velocities are low (cm/s)
bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < (50.0f * sensitivity) &&
( posControl.actualState.velXY < (100.0f * sensitivity) || STATE(GPS_ESTIMATED_FIX));
( posControl.actualState.velXY < (100.0f * sensitivity));
// Check angular rates are low (degs/s)
bool gyroCondition = averageAbsGyroRates() < (2.0f * sensitivity);
DEBUG_SET(DEBUG_LANDING, 2, velCondition);