From 7a8adaa59155623a04c4a8482e7288ed30aececc Mon Sep 17 00:00:00 2001 From: Roman Date: Sun, 17 Jan 2016 13:25:16 +0100 Subject: [PATCH] multirotor landinging sudden fall protection: remove condition which made activation of the protection very unlikely --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 15fc446f44..19f154b699 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1512,7 +1512,6 @@ MulticopterPositionControl::task_main() _landing_started = hrt_absolute_time(); } - #if 0 // TODO quick fix: remove this since in combination with the non-working fall detection // it can lead to the copter falling out of the sky /* don't let it throttle up again during landing */ @@ -1523,7 +1522,6 @@ MulticopterPositionControl::task_main() && hrt_elapsed_time(&_landing_started) > 15e5) { _landing_thrust = thrust_abs; } - #endif /* assume ground, reduce thrust */ if (hrt_elapsed_time(&_landing_started) > 15e5 @@ -1535,7 +1533,6 @@ MulticopterPositionControl::task_main() /* if we suddenly fall, reset landing logic and remove thrust limit */ if (hrt_elapsed_time(&_landing_started) > 15e5 - && _landing_thrust < FLT_EPSILON /* XXX: magic value, assuming free fall above 4m/s2 acceleration */ && (_acc_z_lp > 4.0f || _vel_z_lp > 2.0f * _params.land_speed)