Copter: add land_complete_maybe flag

ArduCopter/AP_State.pde

@@ -110,6 +110,21 @@ void set_land_complete(bool b)
 
 // ---------------------------------------------
 
+// set land complete maybe flag
+void set_land_complete_maybe(bool b)
+{
+    // if no change, exit immediately
+    if (ap.land_complete_maybe == b)
+        return;
+
+    if (b) {
+        Log_Write_Event(DATA_LAND_COMPLETE_MAYBE);
+    }
+    ap.land_complete_maybe = b;
+}
+
+// ---------------------------------------------
+
 void set_pre_arm_check(bool b)
 {
     if(ap.pre_arm_check != b) {

ArduCopter/ArduCopter.pde

@@ -389,6 +389,7 @@ static union {
         uint8_t compass_mot         : 1; // 15  // true if we are currently performing compassmot calibration
         uint8_t motor_test          : 1; // 16  // true if we are currently performing the motors test
         uint8_t initialised         : 1; // 17  // true once the init_ardupilot function has completed.  Extended status to GCS is not sent until this completes
+        uint8_t land_complete_maybe : 1; // 18  // true if we may have landed (less strict version of land_complete)
     };
     uint32_t value;
 } ap;

ArduCopter/control_land.pde

@@ -1,7 +1,7 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
 // counter to verify landings
-static uint16_t land_detector;
+static uint16_t land_detector = LAND_DETECTOR_TRIGGER;  // we assume we are landed
 static bool land_with_gps;
 
 static uint32_t land_start_time;
@@ -192,9 +192,10 @@ static float get_throttle_land()
     }
 }
 
+// land_maybe_complete - return true if we may have landed (used to reset loiter targets during landing)
 static bool land_maybe_complete()
 {
-    return (ap.land_complete || land_detector > LAND_DETECTOR_MAYBE_TRIGGER);
+    return (ap.land_complete || ap.land_complete_maybe);
 }
 
 // update_land_detector - checks if we have landed and updates the ap.land_complete flag
@@ -210,7 +211,7 @@ static void update_land_detector()
                 land_detector++;
             }else{
                 set_land_complete(true);
-                land_detector = 0;
+                land_detector = LAND_DETECTOR_TRIGGER;
             }
         }
     } else {
@@ -221,6 +222,9 @@ static void update_land_detector()
             set_land_complete(false);
         }
     }
+
+    // set land maybe flag
+    set_land_complete_maybe(land_detector >= LAND_DETECTOR_MAYBE_TRIGGER);
 }
 
 // land_do_not_use_GPS - forces land-mode to not use the GPS but instead rely on pilot input for roll and pitch

ArduCopter/defines.h

@@ -275,6 +275,7 @@ enum FlipState {
 #define DATA_DISARMED                   11
 #define DATA_AUTO_ARMED                 15
 #define DATA_TAKEOFF                    16
+#define DATA_LAND_COMPLETE_MAYBE        17
 #define DATA_LAND_COMPLETE              18
 #define DATA_NOT_LANDED                 28
 #define DATA_LOST_GPS                   19

ArduCopter/motors.pde

@@ -615,6 +615,7 @@ static void init_disarm_motors()
 
     // we are not in the air
     set_land_complete(true);
+    set_land_complete_maybe(true);
 
     // reset the mission
     mission.reset();

ArduCopter/system.pde

@@ -325,6 +325,7 @@ static void startup_ground(bool force_gyro_cal)
 
     // set landed flag
     set_land_complete(true);
+    set_land_complete_maybe(true);
 }
 
 // returns true if the GPS is ok and home position is set