From 2d2195d841b31ace59b94831595a9e22cd366f25 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Tue, 29 Aug 2023 11:41:39 +0100
Subject: [PATCH] fix landing detector active state logic

---
 src/main/fc/fc_core.c            |  2 ++
 src/main/navigation/navigation.c | 13 +++++++------
 src/main/navigation/navigation.h |  1 +
 3 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index a00e79724..92705ab69 100755
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -558,6 +558,8 @@ void tryArm(void)
             ENABLE_STATE(NAV_EXTRA_ARMING_SAFETY_BYPASSED);
         }
 
+        resetLandingDetectorActiveState();  // reset landing detector after arming to avoid false detection before flight
+
         lastDisarmReason = DISARM_NONE;
 
         ENABLE_ARMING_FLAG(ARMED);
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index eba38c68b..63c5b9884 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -2809,16 +2809,12 @@ void updateLandingStatus(timeMs_t currentTimeMs)
     DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
 
     if (!ARMING_FLAG(ARMED)) {
-        if (STATE(LANDING_DETECTED)) {
-            resetLandingDetector();
-            landingDetectorIsActive = false;
-        }
+        resetLandingDetector();
+
         if (!IS_RC_MODE_ACTIVE(BOXARM)) {
             DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
         }
         return;
-    } else if (getArmTime() < 0.25f && landingDetectorIsActive) {  // force reset landing detector immediately after arming
-        landingDetectorIsActive = false;
     }
 
     if (!landingDetectorIsActive) {
@@ -2851,6 +2847,11 @@ void resetLandingDetector(void)
     posControl.flags.resetLandingDetector = true;
 }
 
+void resetLandingDetectorActiveState(void)
+{
+    landingDetectorIsActive = false;
+}
+
 bool isFlightDetected(void)
 {
     return STATE(AIRPLANE) ? isFixedWingFlying() : isMulticopterFlying();
diff --git a/src/main/navigation/navigation.h b/src/main/navigation/navigation.h
index 9ffe532e6..3fd213a24 100644
--- a/src/main/navigation/navigation.h
+++ b/src/main/navigation/navigation.h
@@ -611,6 +611,7 @@ float calculateAverageSpeed(void);
 
 void updateLandingStatus(timeMs_t currentTimeMs);
 bool isProbablyStillFlying(void);
+void resetLandingDetectorActiveState(void);
 
 const navigationPIDControllers_t* getNavigationPIDControllers(void);
 
-- 
2.11.4.GIT