Copter: increase horizontal speed threshold for touchdown flag

3drobotics · Apr 24, 2015 · 435d654 · 435d654
1 parent df1dabb
commit 435d654
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ArduCopter/land_detector.pde b/ArduCopter/land_detector.pde
@@ -147,8 +147,8 @@ static void update_ground_effect_detector(void)
     // landing logic
     const Vector3f& angle_target = attitude_control.angle_ef_targets();
     bool small_angle_request = pythagorous2(angle_target.x, angle_target.y) < 750.0f;
-    bool xy_speed_low = (position_ok() || optflow_position_ok()) && xy_speed_cms <= 100.0f;
-    bool xy_speed_demand_low = pos_control.is_active_xy() && xy_des_speed_cms <= 50.0f;
+    bool xy_speed_low = (position_ok() || optflow_position_ok()) && xy_speed_cms <= 125.0f;
+    bool xy_speed_demand_low = pos_control.is_active_xy() && xy_des_speed_cms <= 125.0f;
     bool slow_horizontal = xy_speed_demand_low || (xy_speed_low && !pos_control.is_active_xy()) || (control_mode == ALT_HOLD && small_angle_request);
 
     bool descent_demanded = pos_control.is_active_z() && des_climb_rate_cms < 0.0f;