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AP_Landing: Add a servo override interface and PID logging interface

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This commit is contained in:
Michael du Breuil 2017-02-15 13:54:16 -07:00 committed by Andrew Tridgell
parent ed359a5833
commit 8b20577b74
2 changed files with 25 additions and 0 deletions
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23
libraries/AP_Landing/AP_Landing.cpp
View File

@ -288,6 +288,29 @@ bool AP_Landing::is_expecting_impact(void) const
}
}
// returns true when the landing library has overriden any servos
bool AP_Landing::override_servos(void) {
if (!flags.in_progress) {
return false;
}
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
default:
return false;
}
}
// returns a PID_Info object if there is one available for the selected landing
// type, otherwise returns a nullptr, indicating no data to be logged/sent
const DataFlash_Class::PID_Info* AP_Landing::get_pid_info(void) const
{
switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE:
default:
return nullptr;
}
}
/*
a special glide slope calculation for the landing approach

2
libraries/AP_Landing/AP_Landing.h
View File

@ -74,6 +74,7 @@ public:
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);
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);
bool override_servos(void);
void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
bool request_go_around(void);
bool is_flaring(void) const;
@ -104,6 +105,7 @@ public:
void set_initial_slope(void) { initial_slope = slope; }
bool is_expecting_impact(void) const;
void log(void) const;
const DataFlash_Class::PID_Info * get_pid_info(void) const;
// landing altitude offset (meters)
float alt_offset;