FW LandDetector: disregard horizontal velocity if local_position.v_xy_valid is false #24133
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sfuhrer
reviewed
Dec 19, 2024
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| if (!_vehicle_local_position.v_xy_valid) { | ||
| // set _velocity_xy_filtered to 0 if data is invalid | ||
| val = 0.0f; |
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We may need to add some logic that makes the acceleration threshold tighter if we don't have ground speed and airspeed. Similar to what we already do for the ground speed check if there is no airspeed.
Otherwise it gets dangerous to fly planes without GPS and without airspeed sensor, as then they could detect "landing" in-air if flies very smoothly.
mahimayoga
commented
Dec 20, 2024
| * @decimal 1 | ||
| * @group Land Detector | ||
| */ | ||
| PARAM_DEFINE_FLOAT(LNDFW_ROT_MAX, 5.0f); |
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I made up this default value - needs to be verified/adjusted.
mahimayoga
commented
Dec 20, 2024
| @@ -114,6 +114,14 @@ bool FixedwingLandDetector::_get_landed_state() | |||
| const float acc_hor = matrix::Vector2f(_acceleration).norm(); | |||
| _xy_accel_filtered = _xy_accel_filtered * 0.8f + acc_hor * 0.18f; | |||
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| // Check for angular velocity (disregard yaw) | |||
| float max_rotation_threshold = math::radians(_param_lndfw_rot_max.get()); | |||
| val = _angular_velocity.xy().norm(); // TODO: check if this should be low pass filtered | |||
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in MC landing detector the angular velocity is not filtered. Unsure if it might be necessary for FW - I don't know how noisy the data usually is in comparison.
🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 184 byte (0.01 %)]px4_fmu-v6x [Total VM Diff: 152 byte (0.01 %)]Updated: 2024-12-20T15:48:02 |
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Solved Problem
Horizontal velocity considered in land detector for fixed wings even when invalid.
Solution
Changelog Entry
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