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Airborne status optimized. #42

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Airborne status optimized. #42

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3 changes: 2 additions & 1 deletion NAV_Algorithms/NAV_tuning_parameters.h
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Original file line number Diff line number Diff line change
Expand Up @@ -62,7 +62,8 @@
#define DISABLE_CIRCLING_STATE 0 //!< for tests only: never use circling AHRS algorithm
#define INDUCTION_STD_DEVIATION_LIMIT 0.03 //!< results outperforming this number will be used further on

#define AIRBORNE_TRIGGER_SPEED 0.5f //!< speed-compensator vario value m/s
#define AIRBORNE_TRIGGER_SPEED_COMP 0.5f //!< speed-compensator vario value m/s
#define AIRBORNE_TRIGGER_SPEED 15.0f //!< ground speed / m/s

#define MAG_SCALE 10000.0f //!< scale factor for high-precision integer statistics
#define FAST_SAMPLING_REQUENCY 100.0f
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6 changes: 4 additions & 2 deletions NAV_Algorithms/airborne_detector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -37,12 +37,14 @@ class airborne_detector_t
{
if( yes)
{
if( airborne_counter < LEVEL)
if( airborne_counter == 0)
airborne_counter = 100; // create hysteresis
else if( airborne_counter < LEVEL)
++ airborne_counter;
}
else
{
if( airborne_counter > 0)
if( airborne_counter > 0)
{
--airborne_counter;
if( airborne_counter == 0)
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13 changes: 12 additions & 1 deletion NAV_Algorithms/navigator.cpp
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Expand Up @@ -97,7 +97,18 @@ bool navigator_t::update_at_10Hz ()
ahrs.get_euler ().y,
ahrs.get_circling_state ());

airborne_detector.report_to_be_airborne( abs( flight_observer.get_speed_compensation_GNSS()) > AIRBORNE_TRIGGER_SPEED);
unsigned airborne_criteria_fulfilled = 0;
if( abs( flight_observer.get_speed_compensation_GNSS()) > AIRBORNE_TRIGGER_SPEED_COMP)
++ airborne_criteria_fulfilled;

if( GNSS_velocity.abs() > AIRBORNE_TRIGGER_SPEED)
++ airborne_criteria_fulfilled;

if( IAS > AIRBORNE_TRIGGER_SPEED)
++ airborne_criteria_fulfilled;

// if at least 2 of 3 criteria apply, we believe to be airborne
airborne_detector.report_to_be_airborne( airborne_criteria_fulfilled > 1);
if( airborne_detector.detect_just_landed())
{
ahrs.write_calibration_into_EEPROM();
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