From 1380a35f70ec985c96f59f2a9c5e42e0b5a3bc02 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 6 Dec 2016 17:30:21 +1100 Subject: [PATCH] Revert "Plane: abstract out init_start_nav_cnd work to landing lib" This reverts commit e2288d526210cf94f7ea3417d6627ea1ac981360. doesn't build --- ArduPlane/commands_logic.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp index 95285e6b7b..29bb85cf3f 100644 --- a/ArduPlane/commands_logic.cpp +++ b/ArduPlane/commands_logic.cpp @@ -16,16 +16,23 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd) // special handling for nav vs non-nav commands if (AP_Mission::is_nav_cmd(cmd)) { // set land_complete to false to stop us zeroing the throttle - landing.init_start_nav_cmd(); + landing.complete = false; + landing.pre_flare = false; auto_state.sink_rate = 0; // set takeoff_complete to true so we don't add extra elevator // except in a takeoff auto_state.takeoff_complete = true; + // if a go around had been commanded, clear it now. + landing.commanded_go_around = false; + // start non-idle auto_state.idle_mode = false; + // once landed, post some landing statistics to the GCS + landing.post_stats = false; + nav_controller->set_data_is_stale(); // reset loiter start time. New command is a new loiter