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Code Issues Releases Activity

OP-1760 landing fixes : avoid false positives on ground detection from accel vibration

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Viper found that a badly mounted FC can trigger ground detection.
This commit is contained in:
abeck70 2015-04-19 18:18:14 +10:00
parent 1e9bd43871
commit b96379cf78
1 changed files with 3 additions and 3 deletions
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6
flight/modules/PathFollower/vtollandfsm.cpp
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@ -82,7 +82,7 @@ extern "C" {
#define LANDING_PID_SCALAR_I 10.0f
#define LANDING_SLOWDOWN_HEIGHT -5.0f
#define BOUNCE_VELOCITY_TRIGGER_LIMIT -0.3f
#define BOUNCE_ACCELERATION_TRIGGER_LIMIT -6.0f
#define BOUNCE_ACCELERATION_TRIGGER_LIMIT -9.0f // -6.0 found to be too sensitive
#define BOUNCE_TRIGGER_COUNT 4
#define GROUNDEFFECT_SLOWDOWN_FACTOR 0.3f
#define GROUNDEFFECT_SLOWDOWN_COUNT 4
@ -529,7 +529,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
}
if (flBounce || flBounceAccel) {
if (flBounce ) { // || flBounceAccel) { // accel trigger can occur due to vibration and is too sensitive
mLandData->observation2Count++;
if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
setState(LAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
@ -594,7 +594,7 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
float north_error = mLandData->expectedLandPositionNorth - positionState.North;
float east_error = mLandData->expectedLandPositionEast - positionState.East;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 0.3f) {
if (positionError > 1.5f) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
return;
}