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update

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This commit is contained in:
breadoven 2023-01-26 21:09:34 +00:00
parent dfabcbdd1d
commit 5a4f3190d5
2 changed files with 2 additions and 2 deletions
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2
src/main/navigation/navigation.c
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@ -2808,7 +2808,7 @@ void updateLandingStatus(timeMs_t currentTimeMs)
} }
static timeMs_t lastUpdateTimeMs = 0; static timeMs_t lastUpdateTimeMs = 0;
if (currentTimeMs < lastUpdateTimeMs + HZ2MS(100)) { // limit update to 100Hz if ((currentTimeMs - lastUpdateTimeMs) <= HZ2MS(100)) { // limit update to 100Hz
return; return;
} }
lastUpdateTimeMs = currentTimeMs; lastUpdateTimeMs = currentTimeMs;

2
src/main/navigation/navigation_fixedwing.c
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@ -711,7 +711,7 @@ bool isFixedWingLandingDetected(void)
static int16_t fwLandSetPitchDatum; static int16_t fwLandSetPitchDatum;
const float sensitivity = navConfig()->general.land_detect_sensitivity / 5.0f; const float sensitivity = navConfig()->general.land_detect_sensitivity / 5.0f;
timeMs_t currentTimeMs = millis(); const timeMs_t currentTimeMs = millis();
// Check horizontal and vertical velocities are low (cm/s) // Check horizontal and vertical velocities are low (cm/s)
bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < (50.0f * sensitivity) && bool velCondition = fabsf(navGetCurrentActualPositionAndVelocity()->vel.z) < (50.0f * sensitivity) &&