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AP_Landing: move enum FlightStages to AP_Vehicle::FixedWing

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This commit is contained in:
Tom Pittenger 2016-12-13 18:20:21 -08:00
parent 8019cedf5b
commit 502768c979
3 changed files with 12 additions and 12 deletions
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10
libraries/AP_Landing/AP_Landing.cpp
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@ -146,7 +146,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
update navigation for landing. Called when on landing approach or update navigation for landing. Called when on landing approach or
final flare final flare
*/ */
bool AP_Landing::verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, bool AP_Landing::verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed) const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed)
{ {
switch (type) { switch (type) {
@ -283,7 +283,7 @@ float AP_Landing::head_wind(void)
/* /*
* returns target airspeed in cm/s depending on flight stage * returns target airspeed in cm/s depending on flight stage
*/ */
int32_t AP_Landing::get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage flight_stage) int32_t AP_Landing::get_target_airspeed_cm(const AP_Vehicle::FixedWing::FlightStage flight_stage)
{ {
int32_t target_airspeed_cm = aparm.airspeed_cruise_cm; int32_t target_airspeed_cm = aparm.airspeed_cruise_cm;
@ -298,14 +298,14 @@ int32_t AP_Landing::get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage f
const float land_airspeed = SpdHgt_Controller->get_land_airspeed(); const float land_airspeed = SpdHgt_Controller->get_land_airspeed();
switch (flight_stage) { switch (flight_stage) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH: case AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH:
if (land_airspeed >= 0) { if (land_airspeed >= 0) {
target_airspeed_cm = land_airspeed * 100; target_airspeed_cm = land_airspeed * 100;
} }
break; break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE: case AP_Vehicle::FixedWing::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL: case AP_Vehicle::FixedWing::FLIGHT_LAND_FINAL:
if (pre_flare && get_pre_flare_airspeed() > 0) { if (pre_flare && get_pre_flare_airspeed() > 0) {
// if we just preflared then continue using the pre-flare airspeed during final flare // if we just preflared then continue using the pre-flare airspeed during final flare
target_airspeed_cm = get_pre_flare_airspeed() * 100; target_airspeed_cm = get_pre_flare_airspeed() * 100;

6
libraries/AP_Landing/AP_Landing.h
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@ -65,7 +65,7 @@ public:
// TODO: TYPE_HELICAL, // TODO: TYPE_HELICAL,
}; };
bool verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, bool verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed); const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed);
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_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 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);
@ -78,7 +78,7 @@ public:
bool restart_landing_sequence(void); bool restart_landing_sequence(void);
float wind_alignment(const float heading_deg); float wind_alignment(const float heading_deg);
float head_wind(void); float head_wind(void);
int32_t get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage flight_stage); int32_t get_target_airspeed_cm(const AP_Vehicle::FixedWing::FlightStage flight_stage);
// accessor functions for the params and states // accessor functions for the params and states
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -155,7 +155,7 @@ private:
AP_Int8 type; AP_Int8 type;
// Land Type STANDARD GLIDE SLOPE // Land Type STANDARD GLIDE SLOPE
bool type_slope_verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, bool type_slope_verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed); const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed);
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_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);

8
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -26,7 +26,7 @@
update navigation for landing. Called when on landing approach or update navigation for landing. Called when on landing approach or
final flare final flare
*/ */
bool AP_Landing::type_slope_verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, bool AP_Landing::type_slope_verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed) const int32_t auto_state_takeoff_altitude_rel_cm, 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, bool &throttle_suppressed)
{ {
// we don't 'verify' landing in the sense that it never completes, // we don't 'verify' landing in the sense that it never completes,
@ -35,7 +35,7 @@ bool AP_Landing::type_slope_verify_land(const AP_SpdHgtControl::FlightStage flig
// when aborting a landing, mimic the verify_takeoff with steering hold. Once // when aborting a landing, mimic the verify_takeoff with steering hold. Once
// the altitude has been reached, restart the landing sequence // the altitude has been reached, restart the landing sequence
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) { if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
throttle_suppressed = false; throttle_suppressed = false;
@ -74,8 +74,8 @@ bool AP_Landing::type_slope_verify_land(const AP_SpdHgtControl::FlightStage flig
// 2) passed land point and don't have an accurate AGL // 2) passed land point and don't have an accurate AGL
// 3) probably crashed (ensures motor gets turned off) // 3) probably crashed (ensures motor gets turned off)
bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH || bool on_approach_stage = (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH ||
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE); flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_PREFLARE);
bool below_flare_alt = (height <= flare_alt); bool below_flare_alt = (height <= flare_alt);
bool below_flare_sec = (flare_sec > 0 && height <= sink_rate * flare_sec); bool below_flare_sec = (flare_sec > 0 && height <= sink_rate * flare_sec);
bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying); bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying);