LNDMC - Add landed shortcut if drone is already in landed state and t…

…hrottle is low to avoid detecting takeoff due to measurement and estimation inaccuracies
PX4 · Jan 23, 2019 · 4415edf · 4415edf
1 parent cc68775
commit 4415edf
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -249,8 +249,8 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
 
 bool MulticopterLandDetector::_get_landed_state()
 {
-	// When not armed, consider to be landed
-	if (!_arming.armed) {
+	// if disarmed or if already landed and that the drone has low thrust, it has to be on the ground
+	if (!_arming.armed || (_state == LandDetectionState::LANDED && _has_low_thrust())) {
 		return true;
 	}