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Plane: remove landing.cpp entirely

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This commit is contained in:
Tom Pittenger 2016-11-23 03:12:34 -08:00 committed by Tom Pittenger
parent fc2f518f31
commit 1b0a263761
3 changed files with 7 additions and 21 deletions
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1
ArduPlane/Plane.h
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@ -920,7 +920,6 @@ private:
bool geofence_stickmixing(void);
void geofence_send_status(mavlink_channel_t chan);
bool geofence_breached(void);
bool verify_land();
void disarm_if_autoland_complete();
float tecs_hgt_afe(void);
void set_nav_controller(void);

8
ArduPlane/commands_logic.cpp
View File

@ -254,7 +254,13 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
return verify_nav_wp(cmd);
case MAV_CMD_NAV_LAND:
return verify_land();
{
// use rangefinder to correct if possible
float height = height_above_target() - rangefinder_correction();
return landing.verify_land(flight_stage, prev_WP_loc, next_WP_loc, current_loc,
auto_state.takeoff_altitude_rel_cm, height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range, throttle_suppressed);
}
case MAV_CMD_NAV_LOITER_UNLIM:
return verify_loiter_unlim();

19
ArduPlane/landing.cpp
View File

@ -1,19 +0,0 @@
#include "Plane.h"
/*
landing logic
*/
/*
update navigation for landing. Called when on landing approach or
final flare
*/
bool Plane::verify_land()
{
// use rangefinder to correct if possible
float height = height_above_target() - rangefinder_correction();
return landing.verify_land(flight_stage, prev_WP_loc, next_WP_loc, current_loc,
auto_state.takeoff_altitude_rel_cm, height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range, throttle_suppressed);
}