Include yaw speed in FW rotational speed landing condition

PX4 · Jan 8, 2025 · d116b80 · d116b80
1 parent 5a5195d
commit d116b80
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -109,8 +109,8 @@ 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;
 
-		// Check for angular velocity (disregard yaw)
-		const float rot_vel_hor = _angular_velocity.xy().norm();
+		// Check for angular velocity
+		const float rot_vel_hor = _angular_velocity.norm();
 		val = _velocity_rot_filtered * 0.95f + rot_vel_hor * 0.05f;
 
 		if (PX4_ISFINITE(val)) {