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AP_Landing: add AutoLand mode

This commit is contained in:
Henry Wurzburg 2024-12-11 07:34:00 -06:00
parent 9539ba6b69
commit 00fa1c4f35
2 changed files with 14 additions and 0 deletions
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12
libraries/AP_Landing/AP_Landing.cpp
View File

@ -463,6 +463,18 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
}
}
/*
reset landing state
*/
void AP_Landing::reset(void)
{
initial_slope = 0;
slope = 0;
type_slope_flags.post_stats = false;
type_slope_flags.has_aborted_due_to_slope_recalc = false;
type_slope_stage = SlopeStage::NORMAL;
}
/*
Restart a landing by first checking for a DO_LAND_START and
jump there. Otherwise decrement waypoint so we would re-start

2
libraries/AP_Landing/AP_Landing.h
View File

@ -66,6 +66,8 @@ public:
void convert_parameters(void);
void reset(void);
void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);