Copter: integrate Precision Landing lib

ArduCopter/APM_Config.h

@@ -36,6 +36,7 @@
 
 // features below are disabled by default on all boards
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
+//#define PRECISION_LANDING     ENABLED             // enable precision landing using companion computer or IRLock sensor
 
 // other settings
 //#define THROTTLE_IN_DEADBAND   100                // redefine size of throttle deadband in pwm (0 ~ 1000)

ArduCopter/ArduCopter.cpp

@@ -110,6 +110,9 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] PROGMEM = {
     { SCHED_TASK(three_hz_loop),       133,     75 },
     { SCHED_TASK(compass_accumulate),    8,    100 },
     { SCHED_TASK(barometer_accumulate),  8,     90 },
+#if PRECISION_LANDING == ENABLED
+    { SCHED_TASK(update_precland),       8,     50 },
+#endif
 #if FRAME_CONFIG == HELI_FRAME
     { SCHED_TASK(check_dynamic_flight),  8,     75 },
 #endif

ArduCopter/Copter.cpp

@@ -119,6 +119,9 @@ Copter::Copter(void) :
 #endif
 #if AP_TERRAIN_AVAILABLE
     terrain(ahrs, mission, rally),
+#endif
+#if PRECISION_LANDING == ENABLED
+    precland(ahrs, inertial_nav, g.pi_precland, MAIN_LOOP_SECONDS),
 #endif
     in_mavlink_delay(false),
     gcs_out_of_time(false),

ArduCopter/Copter.h

@@ -108,6 +108,10 @@
 #include <AP_LandingGear/AP_LandingGear.h>     // Landing Gear library
 #include <AP_Terrain/AP_Terrain.h>
 #include <AP_RPM/AP_RPM.h>
+#if PRECISION_LANDING == ENABLED
+#include <AC_PrecLand/AC_PrecLand.h>
+#include <AP_IRLock/AP_IRLock.h>
+#endif
 
 // AP_HAL to Arduino compatibility layer
 // Configuration
@@ -494,6 +498,11 @@ private:
     AP_Terrain terrain;
 #endif
 
+    // Precision Landing
+#if PRECISION_LANDING == ENABLED
+    AC_PrecLand precland;
+#endif
+
     // use this to prevent recursion during sensor init
     bool in_mavlink_delay;
 
@@ -867,6 +876,8 @@ private:
     void init_compass();
     void init_optflow();
     void update_optical_flow(void);
+    void init_precland();
+    void update_precland();
     void read_battery(void);
     void read_receiver_rssi(void);
     void epm_update();

ArduCopter/Parameters.cpp

@@ -1058,6 +1058,12 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
     GOBJECT(optflow,   "FLOW", OpticalFlow),
 #endif
 
+#if PRECISION_LANDING == ENABLED
+    // @Group: PRECLAND_
+    // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
+    GOBJECT(precland, "PLAND_", AC_PrecLand),
+#endif
+
     // @Group: RPM
     // @Path: ../libraries/AP_RPM/AP_RPM.cpp
     GOBJECT(rpm_sensor, "RPM", AP_RPM),

ArduCopter/Parameters.h

@@ -82,6 +82,9 @@ public:
         // Landing gear object
         k_param_landinggear,    // 18
 
+        // precision landing object
+        k_param_precland,   // 19
+
         // Misc
         //
         k_param_log_bitmask_old = 20,           // Deprecated

ArduCopter/config.h

@@ -330,6 +330,12 @@
  # define SPRAYER  DISABLED
 #endif
 
+//////////////////////////////////////////////////////////////////////////////
+// Precision Landing with companion computer or IRLock sensor
+#ifndef PRECISION_LANDING
+ # define PRECISION_LANDING DISABLED
+#endif
+
 //////////////////////////////////////////////////////////////////////////////
 //	EPM cargo gripper
 #ifndef EPM_ENABLED

ArduCopter/precision_landing.cpp

@@ -0,0 +1,24 @@
+/// -*- 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()
+{
+    copter.precland.update(current_loc.alt);
+
+    // log output
+    Log_Write_Precland();
+}
+
+#endif

ArduCopter/system.cpp

@@ -203,6 +203,11 @@ void Copter::init_ardupilot()
     camera_mount.init(serial_manager);
 #endif
 
+#if PRECISION_LANDING == ENABLED
+    // initialise precision landing
+    init_precland();
+#endif
+
 #ifdef USERHOOK_INIT
     USERHOOK_INIT
 #endif