From 4eeb1f18d3ae17bb709aa2271dc2e456c5956272 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <tom.pittenger@krausaerospace.com>
Date: Wed, 21 Jun 2023 12:30:05 -0700
Subject: [PATCH] Plane: fixup is_landing and is_taking_off members

---
 ArduPlane/ArduPlane.cpp | 22 ++++++++++++++++++++++
 ArduPlane/Plane.cpp     | 22 ----------------------
 ArduPlane/Plane.h       |  1 -
 ArduPlane/mode.cpp      |  5 +++++
 ArduPlane/mode.h        |  6 +-----
 ArduPlane/mode_auto.cpp | 19 +------------------
 6 files changed, 29 insertions(+), 46 deletions(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index ed14053d0b..d6bdeb797f 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/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
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index fa3a4eb6d4..dff3166b02 100644
--- a/ArduPlane/Plane.cpp
+++ b/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
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index d26500571b..4a5dd56030 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -523,7 +523,6 @@ private:
         float rudder_offset_pct;
         bool run_yaw_rate_controller;
     } nav_scripting;
-
 #endif
 
     struct {
diff --git a/ArduPlane/mode.cpp b/ArduPlane/mode.cpp
index f8291b1696..a1fdb5ac2d 100644
--- a/ArduPlane/mode.cpp
+++ b/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);
+}
diff --git a/ArduPlane/mode.h b/ArduPlane/mode.h
index 1e2701dd7d..ec94ed4457 100644
--- a/ArduPlane/mode.h
+++ b/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[];
 
diff --git a/ArduPlane/mode_auto.cpp b/ArduPlane/mode_auto.cpp
index ea6af90f2c..6ebf3546ef 100644
--- a/ArduPlane/mode_auto.cpp
+++ b/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);
 }