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
mahimayoga
commented
Dec 20, 2024
🔎 FLASH Analysispx4_fmu-v5x [Total VM Diff: 248 byte (0.01 %)]px4_fmu-v6x [Total VM Diff: 208 byte (0.01 %)]Updated: 2025-01-06T14:13:12 |
mahimayoga
commented
Jan 6, 2025
| * @decimal 1 | ||
| * @group Land Detector | ||
| */ | ||
| PARAM_DEFINE_FLOAT(LNDFW_ROT_MAX, 0.06f); |
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Threshold determined based on SITL data and works when all other checks are turned off. Needs to be checked against real flight data.
mahimayoga
commented
Jan 6, 2025
| @@ -105,15 +114,28 @@ 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) | |||
| const float rot_vel_hor = _angular_velocity.xy().norm(); | |||
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Considering only rotations around x & y to be consistent with MC landing condition, but can be extended to all three axes if it makes sense in FW context.
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Solved Problem
Horizontal velocity considered in land detector for fixed wings even when invalid.
Solution
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