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update

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This commit is contained in:
breadoven 2023-01-27 21:39:23 +00:00
parent bb79ad8f02
commit 4a7a2a75b6
2 changed files with 11 additions and 5 deletions
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9
src/main/navigation/navigation_fixedwing.c
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@ -736,9 +736,12 @@ bool isFixedWingLandingDetected(void)
DEBUG_SET(DEBUG_LANDING, 6, isRollAxisStatic); DEBUG_SET(DEBUG_LANDING, 6, isRollAxisStatic);
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 = 1000 + navConfig()->general.auto_disarm_delay; * Conditions need to be held for fixed safety time + optional extra delay.
return currentTimeMs - fwLandingTimerStartAt > safetyTimeDelay; // check conditions stable for 1s + optional extra delay * Fixed time increased if velocities invalid to provide extra safety margin against false triggers */
const uint16_t safetyTime = posControl.flags.estAltStatus == EST_NONE || posControl.flags.estVelStatus == EST_NONE ? 5000 : 1000;
timeMs_t safetyTimeDelay = safetyTime + navConfig()->general.auto_disarm_delay;
return currentTimeMs - fwLandingTimerStartAt > safetyTimeDelay;
} else { } else {
fixAxisCheck = false; fixAxisCheck = false;
} }

7
src/main/navigation/navigation_multicopter.c
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@ -798,8 +798,11 @@ bool isMulticopterLandingDetected(void)
DEBUG_SET(DEBUG_LANDING, 5, possibleLandingDetected); DEBUG_SET(DEBUG_LANDING, 5, possibleLandingDetected);
if (possibleLandingDetected) { if (possibleLandingDetected) {
timeMs_t safetyTimeDelay = 1000 + navConfig()->general.auto_disarm_delay; // check conditions stable for 1s + optional extra delay /* Conditions need to be held for fixed safety time + optional extra delay.
return (currentTimeMs - landingDetectorStartedAt > safetyTimeDelay); * Fixed time increased if Z velocity invalid to provide extra safety margin against false triggers */
const uint16_t safetyTime = posControl.flags.estAltStatus == EST_NONE ? 5000 : 1000;
timeMs_t safetyTimeDelay = safetyTime + navConfig()->general.auto_disarm_delay;
return currentTimeMs - landingDetectorStartedAt > safetyTimeDelay;
} else { } else {
landingDetectorStartedAt = currentTimeMs; landingDetectorStartedAt = currentTimeMs;
return false; return false;