ardupilot/ArduCopter/precision_landing.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
//
// functions to support precision landing
//
#include "Copter.h"
#if PRECISION_LANDING == ENABLED
void Copter::init_precland()
{
copter.precland.init();
}
void Copter::update_precland()
{
float final_alt = current_loc.alt;
// use range finder altitude if it is valid
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
final_alt = sonar_alt;
}
copter.precland.update(final_alt);
// log output
Log_Write_Precland();
}
#endif