Plane: make precsion QLOITER possible from lua

ArduPlane/ArduPlane.cpp

@@ -869,8 +869,8 @@ bool Plane::update_target_location(const Location &old_loc, const Location &new_
     next_WP_loc = new_loc;
 
 #if HAL_QUADPLANE_ENABLED
-    if (control_mode == &mode_qland) {
+    if (control_mode == &mode_qland || control_mode == &mode_qloiter) {
-        mode_qland.last_target_loc_set_ms = AP_HAL::millis();
+        mode_qloiter.last_target_loc_set_ms = AP_HAL::millis();
     }
 #endif
 
@@ -966,8 +966,7 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
 void Plane::precland_update(void)
 {
     // alt will be unused if we pass false through as the second parameter:
-    return g2.precland.update(rangefinder_state.height_estimate*100,
+    return g2.precland.update(rangefinder_state.height_estimate*100, rangefinder_state.in_range);
-                              rangefinder_state.in_range && rangefinder_state.in_use);
 }
 #endif
 

ArduPlane/RC_Channel.cpp

@@ -177,6 +177,7 @@ void RC_Channel_Plane::init_aux_function(const RC_Channel::AUX_FUNC ch_option,
     case AUX_FUNC::EMERGENCY_LANDING_EN:
     case AUX_FUNC::FW_AUTOTUNE:
     case AUX_FUNC::VFWD_THR_OVERRIDE:
+    case AUX_FUNC::PRECISION_LOITER:
         break;
 
     case AUX_FUNC::SOARING:
@@ -443,6 +444,10 @@ bool RC_Channel_Plane::do_aux_function(const AUX_FUNC ch_option, const AuxSwitch
         }
         break;
 
+    case AUX_FUNC::PRECISION_LOITER:
+        // handled by lua scripting, just ignore here
+        break;
+
     default:
         return RC_Channel::do_aux_function(ch_option, ch_flag);
     }

ArduPlane/mode.h

@@ -647,6 +647,8 @@ class ModeQLoiter : public Mode
 {
 friend class QuadPlane;
 friend class ModeQLand;
+friend class Plane;
+
 public:
 
     Number mode_number() const override { return Number::QLOITER; }
@@ -664,13 +666,12 @@ public:
 protected:
 
     bool _enter() override;
+    uint32_t last_target_loc_set_ms;
 };
 
 class ModeQLand : public Mode
 {
 public:
-    friend class Plane;
-
     Number mode_number() const override { return Number::QLAND; }
     const char *name() const override { return "QLAND"; }
     const char *name4() const override { return "QLND"; }
@@ -686,8 +687,6 @@ protected:
 
     bool _enter() override;
     bool _pre_arm_checks(size_t buflen, char *buffer) const override { return false; }
-
-    uint32_t last_target_loc_set_ms;
 };
 
 class ModeQRTL : public Mode

ArduPlane/mode_qland.cpp

@@ -20,9 +20,6 @@ bool ModeQLand::_enter()
     plane.fence.auto_disable_fence_for_landing();
 #endif
 
-    // clear precland timestamp
-    last_target_loc_set_ms = 0;
-
     return true;
 }
 
@@ -33,30 +30,6 @@ void ModeQLand::update()
 
 void ModeQLand::run()
 {
-    /*
-      see if precision landing is active with an override of the
-      target location
-     */
-    const uint32_t last_pos_set_ms = last_target_loc_set_ms;
-    const uint32_t last_vel_set_ms = quadplane.poscontrol.last_velocity_match_ms;
-    const uint32_t now_ms = AP_HAL::millis();
-
-    if (last_pos_set_ms != 0 && now_ms - last_pos_set_ms < 500) {
-        // we have an active landing target override
-        Vector2f rel_origin;
-        if (plane.next_WP_loc.get_vector_xy_from_origin_NE(rel_origin)) {
-            quadplane.pos_control->set_pos_target_xy_cm(rel_origin.x, rel_origin.y);
-        }
-    }
-
-    // allow for velocity override as well
-    if (last_vel_set_ms != 0 && now_ms - last_vel_set_ms < 500) {
-        // we have an active landing velocity override
-        Vector2f target_accel;
-        Vector2f target_speed_xy_cms{quadplane.poscontrol.velocity_match.x*100, quadplane.poscontrol.velocity_match.y*100};
-        quadplane.pos_control->input_vel_accel_xy(target_speed_xy_cms, target_accel);
-    }
-
     /*
       use QLOITER to do the main control
      */

ArduPlane/mode_qloiter.cpp

@@ -17,6 +17,10 @@ bool ModeQLoiter::_enter()
 
     // prevent re-init of target position
     quadplane.last_loiter_ms = AP_HAL::millis();
+
+    // clear precland timestamp
+    last_target_loc_set_ms = 0;
+
     return true;
 }
 
@@ -29,6 +33,36 @@ void ModeQLoiter::update()
 void ModeQLoiter::run()
 {
     const uint32_t now = AP_HAL::millis();
+
+#if AC_PRECLAND_ENABLED
+    const uint32_t precland_timeout_ms = 250;
+    /*
+      see if precision landing or precision loiter is active with
+      an override of the target location.
+
+    */
+    const uint32_t last_pos_set_ms = last_target_loc_set_ms;
+    const uint32_t last_vel_set_ms = quadplane.poscontrol.last_velocity_match_ms;
+
+    if (last_pos_set_ms != 0 && now - last_pos_set_ms < precland_timeout_ms) {
+        // we have an active landing target override
+        Vector2f rel_origin;
+        if (plane.next_WP_loc.get_vector_xy_from_origin_NE(rel_origin)) {
+            quadplane.pos_control->set_pos_target_xy_cm(rel_origin.x, rel_origin.y);
+            last_target_loc_set_ms = 0;
+        }
+    }
+
+    // allow for velocity override as well
+    if (last_vel_set_ms != 0 && now - last_vel_set_ms < precland_timeout_ms) {
+        // we have an active landing velocity override
+        Vector2f target_accel;
+        Vector2f target_speed_xy_cms{quadplane.poscontrol.velocity_match.x*100, quadplane.poscontrol.velocity_match.y*100};
+        quadplane.pos_control->input_vel_accel_xy(target_speed_xy_cms, target_accel);
+        quadplane.poscontrol.last_velocity_match_ms = 0;
+    }
+#endif // AC_PRECLAND_ENABLED
+
     if (quadplane.tailsitter.in_vtol_transition(now)) {
         // Tailsitters in FW pull up phase of VTOL transition run FW controllers
         Mode::run();