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Plane: move landing.reset to landing.do_land()

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This commit is contained in:
Tom Pittenger 2017-01-10 21:31:11 -08:00
parent 61bc0a6206
commit 650e694eb1
6 changed files with 17 additions and 32 deletions
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12
ArduPlane/ArduPlane.cpp
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@ -867,10 +867,10 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
landing.set_in_progress(fs == AP_Vehicle::FixedWing::FLIGHT_LAND);
if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
auto_state.takeoff_altitude_rel_cm/100);
}
if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
auto_state.takeoff_altitude_rel_cm/100);
}
flight_stage = fs;
@ -978,10 +978,6 @@ void Plane::update_flight_stage(void)
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
}
if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
landing.reset();
}
// tell AHRS the airspeed to true airspeed ratio
airspeed.set_EAS2TAS(barometer.get_EAS2TAS());
}

3
ArduPlane/commands_logic.cpp
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@ -13,8 +13,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
DataFlash.Log_Write_Mission_Cmd(mission, cmd);
}
landing.reset();
// special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle
@ -138,7 +136,6 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_DO_LAND_START:
// handled in landing.reset()
break;
case MAV_CMD_DO_FENCE_ENABLE:

3
ArduPlane/system.cpp
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@ -343,9 +343,6 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
// reset landing check
auto_state.checked_for_autoland = false;
// reset landing
landing.reset();
// zero locked course
steer_state.locked_course_err = 0;

20
libraries/AP_Landing/AP_Landing.cpp
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@ -141,7 +141,11 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
AP_GROUPEND
};
void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude) {
void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{
complete = false;
commanded_go_around = false;
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_do_land(cmd, relative_altitude);
@ -268,20 +272,6 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
}
}
/*
* initialize state for new nav command
*/
void AP_Landing::reset(void)
{
complete = false;
commanded_go_around = false;
initial_slope = 0;
slope = 0;
// once landed, post some landing statistics to the GCS
post_stats = false;
}
/*
Restart a landing by first checking for a DO_LAND_START and
jump there. Otherwise decrement waypoint so we would re-start

1
libraries/AP_Landing/AP_Landing.h
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@ -81,7 +81,6 @@ public:
void set_in_progress(const bool _in_progress) { in_progress = _in_progress; }
// helper functions
void reset(void);
bool restart_landing_sequence(void);
float wind_alignment(const float heading_deg);
float head_wind(void);

10
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -23,8 +23,14 @@
void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{
type_slope_stage = SLOPE_APPROACH;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
initial_slope = 0;
slope = 0;
// once landed, post some landing statistics to the GCS
post_stats = false;
type_slope_stage = SLOPE_APPROACH;
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
}
void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)