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AP_Landing: change namespace of MultiCopter and FixedWing params 

this stops the libraries knowing anything about AP_Vehicle
This commit is contained in:
Peter Barker 2022-09-30 09:10:40 +10:00 committed by Andrew Tridgell
parent 5e21a95016
commit 28a9622a1e
3 changed files with 9 additions and 9 deletions
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4
libraries/AP_Landing/AP_Landing.cpp
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@ -164,7 +164,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
}; };
// constructor // constructor
AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_TECS *_tecs_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm, AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_TECS *_tecs_Controller, AP_Navigation *_nav_controller, AP_FixedWing &_aparm,
set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn, set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn,
constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn, constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn,
adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn, adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn,
@ -281,7 +281,7 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
return false; return false;
} }
void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm) void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm)
{ {
switch (type) { switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE: case TYPE_STANDARD_GLIDE_SLOPE:

12
libraries/AP_Landing/AP_Landing.h
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@ -36,7 +36,7 @@ public:
FUNCTOR_TYPEDEF(disarm_if_autoland_complete_fn_t, void); FUNCTOR_TYPEDEF(disarm_if_autoland_complete_fn_t, void);
FUNCTOR_TYPEDEF(update_flight_stage_fn_t, void); FUNCTOR_TYPEDEF(update_flight_stage_fn_t, void);
AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_TECS *_tecs_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm, AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_TECS *_tecs_Controller, AP_Navigation *_nav_controller, AP_FixedWing &_aparm,
set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn, set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn,
constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn, constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn,
adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn, adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn,
@ -68,10 +68,10 @@ public:
const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed); const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
bool verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, bool verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range); const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
void adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm); void adjust_landing_slope_for_rangefinder_bump(AP_FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm); void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
bool override_servos(void); bool override_servos(void);
void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state); void check_if_need_to_abort(const AP_FixedWing::Rangefinder_State &rangefinder_state);
bool request_go_around(void); bool request_go_around(void);
bool is_flaring(void) const; bool is_flaring(void) const;
bool is_on_approach(void) const; bool is_on_approach(void) const;
@ -137,7 +137,7 @@ private:
AP_TECS *tecs_Controller; AP_TECS *tecs_Controller;
AP_Navigation *nav_controller; AP_Navigation *nav_controller;
AP_Vehicle::FixedWing &aparm; AP_FixedWing &aparm;
set_target_altitude_proportion_fn_t set_target_altitude_proportion_fn; set_target_altitude_proportion_fn_t set_target_altitude_proportion_fn;
constrain_target_altitude_location_fn_t constrain_target_altitude_location_fn; constrain_target_altitude_location_fn_t constrain_target_altitude_location_fn;
@ -187,11 +187,11 @@ private:
bool type_slope_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, bool type_slope_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range); const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
void type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm); void type_slope_adjust_landing_slope_for_rangefinder_bump(AP_FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
void type_slope_setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm); void type_slope_setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
int32_t type_slope_get_target_airspeed_cm(void); int32_t type_slope_get_target_airspeed_cm(void);
void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state); void type_slope_check_if_need_to_abort(const AP_FixedWing::Rangefinder_State &rangefinder_state);
int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd); int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
bool type_slope_request_go_around(void); bool type_slope_request_go_around(void);
void type_slope_log(void) const; void type_slope_log(void) const;

2
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -181,7 +181,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
return false; return false;
} }
void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm) void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm)
{ {
// check the rangefinder correction for a large change. When found, recalculate the glide slope. This is done by // check the rangefinder correction for a large change. When found, recalculate the glide slope. This is done by
// determining the slope from your current location to the land point then following that back up to the approach // determining the slope from your current location to the land point then following that back up to the approach