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Change logic + add gyro check for MR

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This commit is contained in:
breadoven 2023-08-27 23:28:04 +01:00
parent 7bb9b69a5f
commit 6e58a94cf3
2 changed files with 30 additions and 28 deletions
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20
src/main/navigation/navigation.c
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@ -61,6 +61,7 @@
#include "sensors/acceleration.h"
#include "sensors/boardalignment.h"
#include "sensors/battery.h"
#include "sensors/gyro.h"
#include "programming/global_variables.h"
@ -2808,13 +2809,16 @@ void updateLandingStatus(timeMs_t currentTimeMs)
DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
if (!ARMING_FLAG(ARMED)) {
resetLandingDetector();
landingDetectorIsActive = false;
if (STATE(LANDING_DETECTED)) {
resetLandingDetector();
landingDetectorIsActive = false;
}
if (!IS_RC_MODE_ACTIVE(BOXARM)) {
DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
}
return;
} else if (getArmTime() < 0.25f && landingDetectorIsActive) { // force reset landing detector immediately after arming
landingDetectorIsActive = false;
}
if (!landingDetectorIsActive) {
@ -2854,10 +2858,14 @@ bool isFlightDetected(void)
bool isProbablyStillFlying(void)
{
// Multirotor flight sanity checked after disarm so always true here
bool inFlightSanityCheck = STATE(MULTIROTOR) || (STATE(AIRPLANE) && isGPSHeadingValid());
bool inFlightSanityCheck;
if (STATE(MULTIROTOR)) {
inFlightSanityCheck = posControl.actualState.velXY > MC_LAND_CHECK_VEL_XY_MOVING || averageAbsGyroRates() > 4.0f;
} else {
inFlightSanityCheck = isGPSHeadingValid();
}
return landingDetectorIsActive && !STATE(LANDING_DETECTED) && inFlightSanityCheck;
return landingDetectorIsActive && inFlightSanityCheck;
}
/*-----------------------------------------------------------