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MCLandDetector: fix low thrust detection in stabilized mode #14731

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merged 1 commit into from Apr 22, 2020
Merged

MCLandDetector: fix low thrust detection in stabilized mode #14731

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9 changes: 8 additions & 1 deletion src/modules/land_detector/MulticopterLandDetector.cpp
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Expand Up @@ -118,8 +118,15 @@ void MulticopterLandDetector::_update_params()
param_get(_paramHandle.useHoverThrustEstimate, &use_hover_thrust_estimate);
_params.useHoverThrustEstimate = (use_hover_thrust_estimate == 1);

if (!_params.useHoverThrustEstimate) {
if (!_params.useHoverThrustEstimate || !_hover_thrust_initialized) {
param_get(_paramHandle.hoverThrottle, &_params.hoverThrottle);

// HTE runs based on the position controller so, even if we wish to use
// the estimate, it is only available in altitude and position modes.
// Therefore, we need to always initialize the hoverThrottle using the hover
// thrust parameter in case we fly in stabilized
// TODO: this can be removed once HTE runs in all modes
_hover_thrust_initialized = true;
}
}

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2 changes: 2 additions & 0 deletions src/modules/land_detector/MulticopterLandDetector.h
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Expand Up @@ -129,6 +129,8 @@ class MulticopterLandDetector : public LandDetector
vehicle_control_mode_s _vehicle_control_mode {};
vehicle_local_position_setpoint_s _vehicle_local_position_setpoint {};

bool _hover_thrust_initialized{false};

hrt_abstime _min_trust_start{0}; ///< timestamp when minimum trust was applied first
hrt_abstime _landed_time{0};

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