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SURFACE: Better ground level detection. Reset sonar-based ground level each arming. Should make landing detection more reliable

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2016-04-10 21:54:59 +10:00
parent a9a1f84b41
commit e5726c3c35
1 changed files with 11 additions and 6 deletions
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17
src/main/flight/navigation_rewrite.c
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@ -1365,14 +1365,19 @@ void updateActualSurfaceDistance(bool hasValidSensor, float surfaceDistance, flo
posControl.actualState.surface = surfaceDistance;
posControl.actualState.surfaceVel = surfaceVelocity;
if (surfaceDistance > 0) {
if (posControl.actualState.surfaceMin > 0) {
posControl.actualState.surfaceMin = MIN(posControl.actualState.surfaceMin, surfaceDistance);
}
else {
posControl.actualState.surfaceMin = surfaceDistance;
if (ARMING_FLAG(ARMED)) {
if (surfaceDistance > 0) {
if (posControl.actualState.surfaceMin > 0) {
posControl.actualState.surfaceMin = MIN(posControl.actualState.surfaceMin, surfaceDistance);
}
else {
posControl.actualState.surfaceMin = surfaceDistance;
}
}
}
else {
posControl.actualState.surfaceMin = -1;
}
posControl.flags.hasValidSurfaceSensor = hasValidSensor;