Copter: Land Detector: add hash define for LAND_DETECTOR_VEL_Z_MAX

ArduPilot · Apr 24, 2024 · 187d5e3 · 187d5e3
1 parent 3600f94
commit 187d5e3
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
@@ -382,6 +382,9 @@
 #ifndef LAND_DETECTOR_ACCEL_MAX
 # define LAND_DETECTOR_ACCEL_MAX            1.0f    // vehicle acceleration must be under 1m/s/s
 #endif
+#ifndef LAND_DETECTOR_VEL_Z_MAX
+# define LAND_DETECTOR_VEL_Z_MAX              1.0f    // vehicle vertical velocity must be under 1m/s
+#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Flight mode definitions

diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
@@ -112,7 +112,7 @@ void Copter::update_land_detector()
         bool accel_stationary = (land_accel_ef_filter.get().length() <= LAND_DETECTOR_ACCEL_MAX * land_detector_scalar);
 
         // check that vertical speed is within 1m/s of zero
-        bool descent_rate_low = fabsf(inertial_nav.get_velocity_z_up_cms()) < 100 * land_detector_scalar;
+        bool descent_rate_low = fabsf(inertial_nav.get_velocity_z_up_cms()) < 100.0 * LAND_DETECTOR_VEL_Z_MAX * land_detector_scalar;
 
         // if we have a healthy rangefinder only allow landing detection below 2 meters
         bool rangefinder_check = (!rangefinder_alt_ok() || rangefinder_state.alt_cm_filt.get() < LAND_RANGEFINDER_MIN_ALT_CM);