From 25300a6b11ae5d363b2eafe24718d44c454a859e Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 26 Mar 2018 08:55:55 -0400 Subject: [PATCH] VtolLandDetector add airspeed finite check --- src/modules/land_detector/VtolLandDetector.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/modules/land_detector/VtolLandDetector.cpp b/src/modules/land_detector/VtolLandDetector.cpp index dca9433455..8ab1907abe 100644 --- a/src/modules/land_detector/VtolLandDetector.cpp +++ b/src/modules/land_detector/VtolLandDetector.cpp @@ -88,8 +88,10 @@ bool VtolLandDetector::_get_landed_state() bool landed = MulticopterLandDetector::_get_landed_state(); // for vtol we additionally consider airspeed - if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000) { - _airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.true_airspeed_m_s; + if (hrt_elapsed_time(&_airspeed.timestamp) < 500 * 1000 && _airspeed.confidence > 0.99f + && PX4_ISFINITE(_airspeed.indicated_airspeed_m_s)) { + + _airspeed_filtered = 0.95f * _airspeed_filtered + 0.05f * _airspeed.indicated_airspeed_m_s; } else { // if airspeed does not update, set it to zero and rely on multicopter land detector @@ -98,7 +100,7 @@ bool VtolLandDetector::_get_landed_state() // only consider airspeed if we have been in air before to avoid false // detections in the case of wind on the ground - if (_was_in_air && _airspeed_filtered > _params.maxAirSpeed) { + if (_was_in_air && (_airspeed_filtered > _params.maxAirSpeed)) { landed = false; }