Remove rotational velocity threshold tightening

PX4 · Jan 7, 2025 · fcd3295 · fcd3295
1 parent 1ea1051
commit fcd3295
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -126,9 +126,7 @@ bool FixedwingLandDetector::_get_landed_state()
 		const float vel_xy_max_threshold   = airspeed_invalid ? 0.7f * _param_lndfw_vel_xy_max.get() :
 						     _param_lndfw_vel_xy_max.get();
 
-		// make rotation threshold tighter if groundspeed is invalid
-		const float max_rotation_threshold = _vehicle_local_position.v_xy_valid ? math::radians(_param_lndfw_rot_max.get()) :
-						     math::radians(_param_lndfw_rot_max.get()) * 0.5f;
+		const float max_rotation_threshold = math::radians(_param_lndfw_rot_max.get()) ;
 
 		// Crude land detector for fixedwing.
 		landDetected = _airspeed_filtered         < _param_lndfw_airspd.get()

diff --git a/src/modules/land_detector/land_detector_params_fw.c b/src/modules/land_detector/land_detector_params_fw.c
@@ -112,4 +112,4 @@ PARAM_DEFINE_FLOAT(LNDFW_TRIG_TIME, 2.f);
  * @decimal 1
  * @group Land Detector
  */
-PARAM_DEFINE_FLOAT(LNDFW_ROT_MAX, 0.06f);
+PARAM_DEFINE_FLOAT(LNDFW_ROT_MAX, 0.5f);