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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Takeoff detection on fixed wing: Make detector more robust #2281

Closed LorenzMeier closed 9 years ago

LorenzMeier commented 9 years ago

The current approach can lead to a flurry of false detections:

[01:22:03.279 - COMP:50] Critical: TAKEOFF DETECTED
[01:22:05.630 - COMP:50] Critical: LANDING DETECTED
[01:22:39.493 - COMP:50] Critical: TAKEOFF DETECTED
[01:22:41.953 - COMP:50] Critical: LANDING DETECTED
[01:23:02.167 - COMP:50] Critical: TAKEOFF DETECTED
[01:23:05.355 - COMP:50] Critical: LANDING DETECTED
[01:23:08.819 - COMP:50] Critical: TAKEOFF DETECTED
[01:23:12.070 - COMP:50] Critical: LANDING DETECTED
LorenzMeier commented 9 years ago

Fixed on release branch.

tnedev commented 9 years ago

It seems that I no longer have the landing detection working properly (there is no landing detected message). It also looks like this may be the cause of a regular propeller breaking on auto landing. When landed the motor keeps trying to spin (could be ESC reasoning for this).
I would record this in a MAVLink log and get back with data.

LorenzMeier commented 9 years ago

The land detector is not suitable for prop stopping on auto landing. You need to set the min throttle on landing for that in the parameters to zero.

LorenzMeier commented 9 years ago

https://pixhawk.org/users/fixedwing_autoland

tnedev commented 9 years ago

The min throttle for landing is already 0. Few times when I left the craft land in auto and stay in auto until I went to take it found the motor still trying to spin on the ground. Since then when the craft lands I immediately switch to manual but that is not ok. Any other reasons which may cause it?

LorenzMeier commented 9 years ago

You need to set the TLALT accordingly as well.