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AC_Precland: Add option to resume precland after manual override

This commit is contained in:
rishabsingh3003 2023-01-29 15:38:46 +05:30 committed by Randy Mackay
parent 7266f6ee7b
commit 97b9e9da92
2 changed files with 4 additions and 1 deletions
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2
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -173,7 +173,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @Param: OPTIONS // @Param: OPTIONS
// @DisplayName: Precision Landing Extra Options // @DisplayName: Precision Landing Extra Options
// @Description: Precision Landing Extra Options // @Description: Precision Landing Extra Options
// @Bitmask: 0: Moving Landing Target // @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition
// @User: Advanced // @User: Advanced
AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0), AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),

3
libraries/AC_PrecLand/AC_PrecLand.h
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@ -109,6 +109,8 @@ public:
float get_min_retry_time_sec() const { return _retry_timeout_sec; } float get_min_retry_time_sec() const { return _retry_timeout_sec; }
AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); } AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); }
bool allow_precland_after_reposition() const { return _options & PLND_OPTION_PRECLAND_AFTER_REPOSITION; }
// parameter var table // parameter var table
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -130,6 +132,7 @@ private:
enum PLndOptions { enum PLndOptions {
PLND_OPTION_DISABLED = 0, PLND_OPTION_DISABLED = 0,
PLND_OPTION_MOVING_TARGET = (1 << 0), PLND_OPTION_MOVING_TARGET = (1 << 0),
PLND_OPTION_PRECLAND_AFTER_REPOSITION = (1 << 1),
}; };
// check the status of the target // check the status of the target