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PX4 · Jan 8, 2025 · 5a5195d · 5a5195d
1 parent fcd3295
commit 5a5195d
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Showing 3 changed files with 6 additions and 11 deletions.
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -71,19 +71,14 @@ bool FixedwingLandDetector::_get_landed_state()
 
 	} else if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 1_s) {
 
-		float val;
+		float val = 0.0f;
 
-		if (!_vehicle_local_position.v_xy_valid) {
-			// set _velocity_xy_filtered to 0 if data is invalid
-			val = 0.0f;
-
-		} else {
+		if (_vehicle_local_position.v_xy_valid) {
 			// Horizontal velocity complimentary filter.
 			val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
 					_vehicle_local_position.vy * _vehicle_local_position.vy);
 		}
 
-
 		if (PX4_ISFINITE(val)) {
 			_velocity_xy_filtered = val;
 		}

diff --git a/src/modules/land_detector/land_detector_params_fw.c b/src/modules/land_detector/land_detector_params_fw.c
@@ -104,9 +104,9 @@ PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 6.00f);
 PARAM_DEFINE_FLOAT(LNDFW_TRIG_TIME, 2.f);
 
 /**
- * Fixed-wing land detector: max rotation
+ * Fixed-wing land detector: max rotational speed
  *
- * Maximum allowed angular velocity around each axis allowed in the landed state.
+ * Maximum allowed norm of the angular velocity in the landed state.
  *
  * @unit deg/s
  * @decimal 1

diff --git a/src/modules/land_detector/land_detector_params_mc.c b/src/modules/land_detector/land_detector_params_mc.c
@@ -76,9 +76,9 @@ PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.25f);
 PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);
 
 /**
- * Multicopter max rotation
+ * Multicopter max rotational speed
  *
- * Maximum allowed angular velocity around each axis allowed in the landed state.
+ * Maximum allowed norm of the angular velocity (roll, pitch) in the landed state.
  *
  * @unit deg/s
  * @decimal 1