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Surface sensor (SONAR) assisted landing detection

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2015-11-25 16:50:11 +10:00
parent 6850fe324f
commit 6afd3741b2
3 changed files with 28 additions and 3 deletions
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5
src/main/flight/navigation_rewrite_private.h
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@ -21,8 +21,8 @@
#define DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR 1.113195f // MagicEarthNumber from APM
#define LAND_DETECTOR_TRIGGER_TIME_MS 2000
#define NAV_ROLL_PITCH_MAX_DECIDEGREES (30 * 10) // Max control input from NAV (30 deg)
#define LAND_DETECTOR_TRIGGER_TIME_MS 2000 // 2 seconds
#define NAV_ROLL_PITCH_MAX_DECIDEGREES (30 * 10) // Max control input from NAV (30 deg)
#define POSITION_TARGET_UPDATE_RATE_HZ 5 // Rate manual position target update (minumum possible speed in cms will be this value)
#define MIN_POSITION_UPDATE_RATE_HZ 5 // Minimum position update rate at which XYZ controllers would be applied
@ -108,6 +108,7 @@ typedef struct {
float cosYaw;
float surface;
float surfaceVel;
float surfaceMin;
} navigationEstimatedState_t;
typedef struct {