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Plane: use new APIs for takeoff/touchdown expected

This commit is contained in:
Andrew Tridgell 2021-05-29 09:54:15 +10:00 committed by Randy Mackay
parent 1371fd7e6f
commit 68a1100c64
2 changed files with 5 additions and 5 deletions
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8
ArduPlane/quadplane.cpp
View File

@ -1536,7 +1536,7 @@ void QuadPlane::control_loiter()
float descent_rate_cms = landing_descent_rate_cms(height_above_ground);
if (poscontrol.state == QPOS_LAND_FINAL && (options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTouchdownExpected(true);
ahrs.set_touchdown_expected(true);
}
set_climb_rate_cms(-descent_rate_cms, descent_rate_cms>0);
@ -2774,7 +2774,7 @@ void QuadPlane::vtol_position_controller(void)
float height_above_ground = plane.relative_ground_altitude(plane.g.rangefinder_landing);
if (poscontrol.state == QPOS_LAND_FINAL) {
if ((options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTouchdownExpected(true);
ahrs.set_touchdown_expected(true);
}
}
const float descent_rate_cms = landing_descent_rate_cms(height_above_ground);
@ -3066,7 +3066,7 @@ bool QuadPlane::verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd)
if (now - takeoff_start_time_ms < 3000 &&
(options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTakeoffExpected(true);
ahrs.set_takeoff_expected(true);
}
// check for failure conditions
@ -3536,7 +3536,7 @@ bool QuadPlane::do_user_takeoff(float takeoff_altitude)
guided_start();
guided_takeoff = true;
if ((options & OPTION_DISABLE_GROUND_EFFECT_COMP) == 0) {
ahrs.setTakeoffExpected(true);
ahrs.set_takeoff_expected(true);
}
return true;
}

2
ArduPlane/servos.cpp
View File

@ -570,7 +570,7 @@ void Plane::set_servos_controlled(void)
bool throw_detected = accel_x_due_to_throw > GRAVITY_MSS;
bool throttle_up_detected = throttle > aparm.throttle_cruise;
if (throw_detected || throttle_up_detected) {
plane.ahrs.setTakeoffExpected(true);
plane.ahrs.set_takeoff_expected(true);
}
}
}