AP_MotorsHeli: Fix landing detector check when collective_out is cons…

…trained to _collective_land_min_pct. Needed to account for FLT_EPSILON.
ArduPilot · Oct 23, 2024 · b18d05c · b18d05c
1 parent 3307011
commit b18d05c
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Showing 3 changed files with 3 additions and 15 deletions.
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -427,11 +427,7 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
     }
 
     // updates below land min collective flag
-    if (collective_out <= _collective_land_min_pct) {
-        _heliflags.below_land_min_coll = true;
-    } else {
-        _heliflags.below_land_min_coll = false;
-    }
+    _heliflags.below_land_min_coll = !is_positive(collective_out - _collective_land_min_pct);
 
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -189,11 +189,7 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
     }
 
     // updates below land min collective flag
-    if (collective_out <= _collective_land_min_pct) {
-        _heliflags.below_land_min_coll = true;
-    } else {
-        _heliflags.below_land_min_coll = false;
-    }
+    _heliflags.below_land_min_coll = !is_positive(collective_out - _collective_land_min_pct);
 
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);

diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -394,11 +394,7 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     }
 
     // updates below land min collective flag
-    if (collective_out <= _collective_land_min_pct) {
-        _heliflags.below_land_min_coll = true;
-    } else {
-        _heliflags.below_land_min_coll = false;
-    }
+    _heliflags.below_land_min_coll = !is_positive(collective_out - _collective_land_min_pct);
 
     // updates takeoff collective flag based on 50% hover collective
     update_takeoff_collective_flag(collective_out);