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Code Issues Wiki Activity

landing tweaks

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This commit is contained in:
breadoven 2023-01-24 14:21:13 +00:00
parent aa8fcc2991
commit 3560bb57ea
5 changed files with 6 additions and 5 deletions
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2
docs/Settings.md
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@ -2688,7 +2688,7 @@ Delay before craft disarms when `nav_disarm_on_landing` is set (ms)
| Default | Min | Max | | Default | Min | Max |
| --- | --- | --- | | --- | --- | --- |
| 2000 | 100 | 10000 | | 1000 | 100 | 10000 |
--- ---

1
src/main/cms/cms_menu_navigation.c
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@ -50,6 +50,7 @@ static const OSD_Entry cmsx_menuNavSettingsEntries[] =
OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE), OSD_SETTING_ENTRY("MC MAX BANK ANGLE", SETTING_NAV_MC_BANK_ANGLE),
OSD_SETTING_ENTRY("MID THR FOR AH", SETTING_NAV_USE_MIDTHR_FOR_ALTHOLD), OSD_SETTING_ENTRY("MID THR FOR AH", SETTING_NAV_USE_MIDTHR_FOR_ALTHOLD),
OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR), OSD_SETTING_ENTRY("MC HOVER THR", SETTING_NAV_MC_HOVER_THR),
OSD_SETTING_ENTRY("LANDING DISARM", SETTING_NAV_DISARM_ON_LANDING),
OSD_BACK_AND_END_ENTRY, OSD_BACK_AND_END_ENTRY,
}; };

2
src/main/fc/settings.yaml
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@ -2563,7 +2563,7 @@ groups:
max: 45 max: 45
- name: nav_auto_disarm_delay - name: nav_auto_disarm_delay
description: "Delay before craft disarms when `nav_disarm_on_landing` is set (ms)" description: "Delay before craft disarms when `nav_disarm_on_landing` is set (ms)"
default_value: 2000 default_value: 1000
field: general.auto_disarm_delay field: general.auto_disarm_delay
min: 100 min: 100
max: 10000 max: 10000

4
src/main/navigation/navigation_fixedwing.c
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@ -737,8 +737,8 @@ bool isFixedWingLandingDetected(void)
DEBUG_SET(DEBUG_LANDING, 7, isPitchAxisStatic); DEBUG_SET(DEBUG_LANDING, 7, isPitchAxisStatic);
if (isRollAxisStatic && isPitchAxisStatic) { if (isRollAxisStatic && isPitchAxisStatic) {
// Probably landed, low horizontal and vertical velocities and no axis rotation in Roll and Pitch // Probably landed, low horizontal and vertical velocities and no axis rotation in Roll and Pitch
timeMs_t safetyTimeDelay = 2000 + navConfig()->general.auto_disarm_delay; timeMs_t safetyTimeDelay = 1000 + navConfig()->general.auto_disarm_delay;
return currentTimeMs - fwLandingTimerStartAt > safetyTimeDelay; // check conditions stable for 2s + optional extra delay return currentTimeMs - fwLandingTimerStartAt > safetyTimeDelay; // check conditions stable for 1s + optional extra delay
} else { } else {
fixAxisCheck = false; fixAxisCheck = false;
} }

2
src/main/navigation/navigation_multicopter.c
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@ -798,7 +798,7 @@ bool isMulticopterLandingDetected(void)
DEBUG_SET(DEBUG_LANDING, 5, possibleLandingDetected); DEBUG_SET(DEBUG_LANDING, 5, possibleLandingDetected);
if (possibleLandingDetected) { if (possibleLandingDetected) {
timeUs_t safetyTimeDelay = MS2US(2000 + navConfig()->general.auto_disarm_delay); // check conditions stable for 2s + optional extra delay timeUs_t safetyTimeDelay = MS2US(1000 + navConfig()->general.auto_disarm_delay); // check conditions stable for 1s + optional extra delay
return (currentTimeUs - landingDetectorStartedAt > safetyTimeDelay); return (currentTimeUs - landingDetectorStartedAt > safetyTimeDelay);
} else { } else {
landingDetectorStartedAt = currentTimeUs; landingDetectorStartedAt = currentTimeUs;