Plane: fixup is_landing and is_taking_off members

ArduPlane/ArduPlane.cpp

@@ -851,6 +851,28 @@ bool Plane::set_land_descent_rate(float descent_rate)
     return false;
 }
 
+// returns true if vehicle is landing.
+bool Plane::is_landing() const
+{
+#if HAL_QUADPLANE_ENABLED
+    if (plane.quadplane.in_vtol_land_descent()) {
+        return true;
+    }
+#endif
+    return control_mode->is_landing();
+}
+
+// returns true if vehicle is taking off.
+bool Plane::is_taking_off() const
+{
+#if HAL_QUADPLANE_ENABLED
+    if (plane.quadplane.in_vtol_takeoff()) {
+        return true;
+    }
+#endif
+    return control_mode->is_taking_off();
+}
+
 #endif // AP_SCRIPTING_ENABLED
 
 // correct AHRS pitch for TRIM_PITCH_CD in non-VTOL modes, and return VTOL view in VTOL

ArduPlane/Plane.cpp

@@ -32,25 +32,3 @@ Plane::Plane(void)
 
 Plane plane;
 AP_Vehicle& vehicle = plane;
-
-#if AP_SCRIPTING_ENABLED
-
-// returns true if vehicle is landing. Only used by Lua scripts
-bool Plane::is_landing() const
-{
-#if HAL_QUADPLANE_ENABLED
-    if (plane.quadplane.in_vtol_land_descent()) {
-        return true;
-    }
-#endif
-
-    return control_mode->is_landing();
-}
-
-// returns true if vehicle is taking off. Only used by Lua scripts
-bool Plane::is_taking_off() const
-{
-    return control_mode->is_taking_off() || (started_flying_ms > 0 && millis() - started_flying_ms < 30000);
-}
-
-#endif // AP_SCRIPTING_ENABLED

ArduPlane/Plane.h

@@ -523,7 +523,6 @@ private:
         float rudder_offset_pct;
         bool run_yaw_rate_controller;
     } nav_scripting;
-
 #endif
 
     struct {

ArduPlane/mode.cpp

@@ -225,3 +225,8 @@ void Mode::reset_controllers()
     plane.steer_state.locked_course = false;
     plane.steer_state.locked_course_err = 0;
 }
+
+bool Mode::is_taking_off() const
+{
+    return (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF);
+}

ArduPlane/mode.h

@@ -132,7 +132,7 @@ public:
     virtual bool is_landing() const { return false; }
 
     // true if is taking 
-    virtual bool is_taking_off() const { return false; }
+    virtual bool is_taking_off() const;
 
 
 protected:
@@ -218,8 +218,6 @@ public:
 
     bool is_landing() const override;
     
-    bool is_taking_off() const override;
-
 protected:
 
     bool _enter() override;
@@ -756,8 +754,6 @@ public:
 
     bool does_auto_throttle() const override { return true; }
 
-    bool is_taking_off() const override { return true; }
-
     // var_info for holding parameter information
     static const struct AP_Param::GroupInfo var_info[];
 

ArduPlane/mode_auto.cpp

@@ -162,22 +162,5 @@ bool ModeAuto::_pre_arm_checks(size_t buflen, char *buffer) const
 
 bool ModeAuto::is_landing() const
 {
-    switch(plane.mission.get_current_nav_cmd().id) {
-    case MAV_CMD_NAV_LAND:
-    case MAV_CMD_NAV_VTOL_LAND:
-    case MAV_CMD_DO_VTOL_TRANSITION:
-        return true;
-    }
-    return plane.mission.get_in_landing_sequence_flag();
-}
-
-bool ModeAuto::is_taking_off() const
-{
-    switch(plane.mission.get_current_nav_cmd().id) {
-    case MAV_CMD_NAV_TAKEOFF:
-    case MAV_CMD_NAV_VTOL_TAKEOFF:
-    case MAV_CMD_DO_VTOL_TRANSITION:
-        return true;
-    }
-    return false;
+    return (plane.flight_stage == AP_FixedWing::FlightStage::LAND);
 }