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Plane: add flag for auto_state.land_in_progress

This commit is contained in:
Tom Pittenger 2016-05-27 16:35:56 -07:00
parent 4ebaab86ec
commit 4db5b80b37
2 changed files with 9 additions and 0 deletions
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6
ArduPlane/ArduPlane.cpp
View File

@ -833,6 +833,7 @@ void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
switch (fs) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude());
auto_state.land_in_progress = true;
#if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
@ -852,13 +853,18 @@ void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
auto_state.land_in_progress = false;
break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
auto_state.land_in_progress = true;
break;
case AP_SpdHgtControl::FLIGHT_NORMAL:
case AP_SpdHgtControl::FLIGHT_VTOL:
case AP_SpdHgtControl::FLIGHT_TAKEOFF:
auto_state.land_in_progress = false;
break;
}

3
ArduPlane/Plane.h
View File

@ -439,6 +439,9 @@ private:
// Flag to indicate if we have triggered pre-flare. This occurs when we have reached LAND_PF_ALT
bool land_pre_flare:1;
// are we in auto and flight mode is approach || pre-flare || final (flare)
bool land_in_progress:1;
// should we fly inverted?
bool inverted_flight:1;