Copter: Increase second stage land detect wait time

3drobotics · Aug 30, 2016 · 7ecf63e · 7ecf63e
1 parent f776756
commit 7ecf63e
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Showing 2 changed files with 15 additions and 9 deletions.
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -406,17 +406,23 @@
 //////////////////////////////////////////////////////////////////////////////
 // Landing Detector
 //
-#ifndef LAND_DETECTOR_TRIGGER_SEC
- # define LAND_DETECTOR_TRIGGER_SEC         1.0f    // number of seconds to detect a landing
+// Number of seconds to detect a probable landing. This results in the ESC upper pwm limit being reduced and is reversible.
+#ifndef FIRST_STAGE_LANDED_TRIGGER_SEC
+ # define FIRST_STAGE_LANDED_TRIGGER_SEC    1.0f
+#endif
+// Number of seconds to detect with certainty that we have landed. This results in motors being disarmed.
+// This check commences after the first stage detector has passed and the ESC upper pwm limit has been reduced
+#ifndef SECOND_STAGE_LANDED_TRIGGER_SEC
+ # define SECOND_STAGE_LANDED_TRIGGER_SEC   2.0f
 #endif
 #ifndef LAND_DETECTOR_MAYBE_TRIGGER_SEC
  # define LAND_DETECTOR_MAYBE_TRIGGER_SEC   0.2f    // number of seconds that means we might be landed (used to reset horizontal position targets to prevent tipping over)
 #endif
 #ifndef LAND_DETECTOR_ACCEL_LPF_CUTOFF
-# define LAND_DETECTOR_ACCEL_LPF_CUTOFF     5.0f    // frequency cutoff of land detector accelerometer filter
+ # define LAND_DETECTOR_ACCEL_LPF_CUTOFF     5.0f    // frequency cutoff of land detector accelerometer filter
 #endif
 #ifndef LAND_DETECTOR_ACCEL_MAX
-# define LAND_DETECTOR_ACCEL_MAX            1.0f    // vehicle acceleration must be under 1m/s/s
+ # define LAND_DETECTOR_ACCEL_MAX            1.0f    // vehicle acceleration must be under 1m/s/s
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

diff --git a/ArduCopter/land_detector.pde b/ArduCopter/land_detector.pde
@@ -72,11 +72,11 @@ static void update_land_detector()
 
         // Increment a counter when throttle is at the lower limit
         // Reset the counter if the throttle comes off the limit
-        // Declare the check as passed when the coutner reaches the pass threshold
+        // Declare the check as passed when the counter reaches the pass threshold
         // If the throttle comes off the limit, also reset the counter used check for monitor movement
         bool throttle_check_passed = false;
         if (throttle_at_lower_limit) {
-            if (counter_min_throttle < ((float)LAND_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
+            if (counter_min_throttle < ((float)FIRST_STAGE_LANDED_TRIGGER_SEC)*MAIN_LOOP_RATE) {
                 counter_min_throttle++;
             } else {
                 throttle_check_passed = true;
@@ -92,7 +92,7 @@ static void update_land_detector()
         // declare the check as passed when the counter reaches the pass threshold
         bool accel_check_passed = false;
         if (accel_stationary) {
-            if (counter_not_accelerating < ((float)LAND_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
+            if (counter_not_accelerating < ((float)FIRST_STAGE_LANDED_TRIGGER_SEC)*MAIN_LOOP_RATE) {
                 counter_not_accelerating++;
             } else {
                 accel_check_passed = true;
@@ -106,7 +106,7 @@ static void update_land_detector()
         // declare the check as passed when the counter reaches the pass threshold
         bool falling_check_passed = false;
         if (accel_not_falling) {
-            if (counter_not_falling < ((float)LAND_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
+            if (counter_not_falling < ((float)FIRST_STAGE_LANDED_TRIGGER_SEC)*MAIN_LOOP_RATE) {
                 counter_not_falling++;
             } else {
                 falling_check_passed = true;
@@ -145,7 +145,7 @@ static void update_land_detector()
         // Because the esc's have already been lowered to a value that will not allow the copter to tip
         // this check can be slower to pass
         if (falling_check_passed && throttle_check_passed && reduce_max_pwm) {
-            if (counter_landed < ((float)LAND_DETECTOR_TRIGGER_SEC)*MAIN_LOOP_RATE) {
+            if (counter_landed < ((float)SECOND_STAGE_LANDED_TRIGGER_SEC)*MAIN_LOOP_RATE) {
                 counter_landed++;
             } else {
                 set_land_complete(true);