2019-06-18 15:29:05 -03:00
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//
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// functions to support precision landing
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//
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#include "Copter.h"
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#if PRECISION_LANDING == ENABLED
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void Copter::init_precland()
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{
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copter.precland.init(400);
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}
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void Copter::update_precland()
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{
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int32_t height_above_ground_cm = current_loc.alt;
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// use range finder altitude if it is valid, else try to get terrain alt
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if (rangefinder_alt_ok()) {
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height_above_ground_cm = rangefinder_state.alt_cm;
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} else if (terrain_use()) {
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if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height_above_ground_cm)) {
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height_above_ground_cm = current_loc.alt;
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}
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}
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precland.update(height_above_ground_cm, rangefinder_alt_ok());
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}
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#endif
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