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AP_Landing: make and use AP_LANDINGGEAR_ENABLED

This commit is contained in:
Peter Barker 2022-12-09 11:12:33 +11:00 committed by Andrew Tridgell
parent 3c201ae741
commit 3d641fab8d
1 changed files with 7 additions and 1 deletions
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8
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -25,6 +25,10 @@
#include <AP_GPS/AP_GPS.h>
#include <AP_Logger/AP_Logger.h>
#if defined(APM_BUILD_TYPE)
// - this is just here to encourage the build system to supply the "legacy build defines". The actual dependecy is in the AP_LandingGear.h and AP_LandingGear_config.h headers
#endif
void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{
initial_slope = 0;
@ -111,7 +115,8 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
}
type_slope_stage = SlopeStage::FINAL;
#if AP_LANDINGGEAR_ENABLED
// Check if the landing gear was deployed before landing
// If not - go around
AP_LandingGear *LG_inst = AP_LandingGear::get_singleton();
@ -119,6 +124,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
type_slope_request_go_around();
gcs().send_text(MAV_SEVERITY_CRITICAL, "Landing gear was not deployed");
}
#endif
}
if (gps.ground_speed() < 3) {