land_detector_params_mc.c File Reference

Go to the source code of this file.

Functions
	PARAM_DEFINE_FLOAT (LNDMC_Z_VEL_MAX, 0.50f)
	Multicopter max climb rate. More...
	PARAM_DEFINE_FLOAT (LNDMC_XY_VEL_MAX, 1.5f)
	Multicopter max horizontal velocity. More...
	PARAM_DEFINE_FLOAT (LNDMC_ROT_MAX, 20.0f)
	Multicopter max rotation. More...
	PARAM_DEFINE_FLOAT (LNDMC_FFALL_THR, 2.0f)
	Multicopter specific force threshold. More...
	PARAM_DEFINE_FLOAT (LNDMC_FFALL_TTRI, 0.3)
	Multicopter free-fall trigger time. More...
	PARAM_DEFINE_FLOAT (LNDMC_ALT_MAX, -1.0f)
	Maximum altitude for multicopters. More...
	PARAM_DEFINE_FLOAT (LNDMC_LOW_T_THR, 0.3)
	Low throttle detection threshold. More...

Function Documentation

PARAM_DEFINE_FLOAT() [1/7]

PARAM_DEFINE_FLOAT	(	LNDMC_Z_VEL_MAX	,
		0.	50f
	)

Multicopter max climb rate.

Maximum vertical velocity allowed in the landed state (m/s up and down)

m/s 1

Land Detector

PARAM_DEFINE_FLOAT() [2/7]

PARAM_DEFINE_FLOAT	(	LNDMC_XY_VEL_MAX	,
		1.	5f
	)

Multicopter max horizontal velocity.

Maximum horizontal velocity allowed in the landed state (m/s)

m/s 1

Land Detector

PARAM_DEFINE_FLOAT() [3/7]

PARAM_DEFINE_FLOAT	(	LNDMC_ROT_MAX	,
		20.	0f
	)

Multicopter max rotation.

Maximum allowed angular velocity around each axis allowed in the landed state.

deg/s 1

Land Detector

PARAM_DEFINE_FLOAT() [4/7]

PARAM_DEFINE_FLOAT	(	LNDMC_FFALL_THR	,
		2.	0f
	)

Multicopter specific force threshold.

Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection

m/s^2 0.1 10 2

Land Detector

PARAM_DEFINE_FLOAT() [5/7]

PARAM_DEFINE_FLOAT	(	LNDMC_FFALL_TTRI	,
		0.	3
	)

Multicopter free-fall trigger time.

Seconds (decimal) that freefall conditions have to met before triggering a freefall. Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h

s 0.02 5 2

Land Detector

PARAM_DEFINE_FLOAT() [6/7]

PARAM_DEFINE_FLOAT	(	LNDMC_ALT_MAX	,
		-1.	0f
	)

Maximum altitude for multicopters.

The system will obey this limit as a hard altitude limit. This setting will be consolidated with the GF_MAX_VER_DIST parameter. A negative value indicates no altitude limitation.

m -1 10000 2 Land Detector

PARAM_DEFINE_FLOAT() [7/7]

PARAM_DEFINE_FLOAT	(	LNDMC_LOW_T_THR	,
		0.	3
	)

Low throttle detection threshold.

Defines the commanded throttle value below which the land detector considers the vehicle to have "low thrust". This is one condition that is used to detect the ground contact state. The value is calculated as val = (MPC_THR_HOVER - MPC_THR_MIN) * LNDMC_LOW_T_THR + MPC_THR_MIN Increase this value if the system takes long time to detect landing.

norm 0.1 0.9 2 Land Detector