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AP_Landing: abstract out init_start_nav_cnd work to landing lib

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This commit is contained in:
Tom Pittenger 2016-12-05 18:43:47 -08:00
parent 2d8c9c5129
commit 8d8775125a
3 changed files with 28 additions and 3 deletions
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11
libraries/AP_Landing/AP_Landing.cpp
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@ -183,6 +183,17 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
case TYPE_STANDARD_GLIDE_SLOPE: case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm); type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
break; break;
/*
* initialize state for new nav command
*/
void AP_Landing::init_start_nav_cmd(void)
{
switch (type) {
default:
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_init_start_nav_cmd();
break;
} }
} }

8
libraries/AP_Landing/AP_Landing.h
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@ -89,6 +89,7 @@ public:
int8_t get_abort_throttle_enable(void) const { return abort_throttle_enable; } int8_t get_abort_throttle_enable(void) const { return abort_throttle_enable; }
int8_t get_flap_percent(void) const { return flap_percent; } int8_t get_flap_percent(void) const { return flap_percent; }
int8_t get_throttle_slewrate(void) const { return throttle_slewrate; } int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
void init_start_nav_cmd(void);
// Flag to indicate if we have landed. // Flag to indicate if we have landed.
@ -110,14 +111,14 @@ public:
// landing altitude offset (meters) // landing altitude offset (meters)
float alt_offset; float alt_offset;
// once landed, post some landing statistics to the GCS
bool post_stats;
// denotes if a go-around has been commanded for landing // denotes if a go-around has been commanded for landing
bool commanded_go_around; bool commanded_go_around;
private: private:
// once landed, post some landing statistics to the GCS
bool post_stats;
bool has_aborted_due_to_slope_recalc; bool has_aborted_due_to_slope_recalc;
AP_Mission &mission; AP_Mission &mission;
@ -157,5 +158,6 @@ private:
void type_slope_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 type_slope_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 type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state); void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
void type_slope_init_start_nav_cmd(void);
}; };

12
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -292,3 +292,15 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
// stay within the range of the start and end locations in altitude // stay within the range of the start and end locations in altitude
constrain_target_altitude_location_fn(loc, prev_WP_loc); constrain_target_altitude_location_fn(loc, prev_WP_loc);
} }
void AP_Landing::type_slope_init_start_nav_cmd(void)
{
complete = false;
pre_flare = false;
// if a go around had been commanded, clear it now.
commanded_go_around = false;
// once landed, post some landing statistics to the GCS
post_stats = false;
}