[paparazzi-commits] [6392] change detection range for tcas

[Gautier Hattenberger]

Revision: 6392
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6392
Author:   gautier
Date:     2010-11-11 10:14:35 +0000 (Thu, 11 Nov 2010)
Log Message:
-----------
change detection range for tcas

Modified Paths:
--------------
    paparazzi-software/trunk/sw/airborne/modules/multi/tcas.c

Modified: paparazzi-software/trunk/sw/airborne/modules/multi/tcas.c
===================================================================
--- paparazzi-software/trunk/sw/airborne/modules/multi/tcas.c   2010-11-11 
10:06:25 UTC (rev 6391)
+++ paparazzi-software/trunk/sw/airborne/modules/multi/tcas.c   2010-11-11 
10:14:35 UTC (rev 6392)
@@ -89,8 +89,8 @@
 static inline enum tcas_resolve tcas_test_direction(uint8_t id) {
   struct ac_info_ * ac = get_ac_info(id);
   float dz = ac->alt - estimator_z;
-  if (dz > tcas_alim) return RA_DESCEND;
-  else if (dz < -tcas_alim) return RA_CLIMB;
+  if (dz > tcas_alim/2) return RA_DESCEND;
+  else if (dz < -tcas_alim/2) return RA_CLIMB;
   else // AC with the smallest ID descend
   {
     if (AC_ID < id) return RA_DESCEND;