From a27469777674c6c2a78bdf7b708e22d84f94df55 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 1 May 2020 13:59:07 +1000
Subject: [PATCH] Copter: move LAND state variables to be members rather than
 static

Also rename one of them as we may be using (e.g.) OF to control position rather
than GPS.
---
 ArduCopter/mode.h        | 10 ++++++++++
 ArduCopter/mode_land.cpp | 19 +++++++------------
 2 files changed, 17 insertions(+), 12 deletions(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 2b4c0f8b90..921eb932f3 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -912,6 +912,11 @@ public:
 
     void do_not_use_GPS();
 
+    // returns true if LAND mode is trying to control X/Y position
+    bool controlling_position() const { return control_position; }
+
+    void set_land_pause(bool new_value) { land_pause = new_value; }
+
 protected:
 
     const char *name() const override { return "LAND"; }
@@ -921,6 +926,11 @@ private:
 
     void gps_run();
     void nogps_run();
+
+    bool control_position; // true if we are using an external reference to control position
+
+    uint32_t land_start_time;
+    bool land_pause;
 };
 
 
diff --git a/ArduCopter/mode_land.cpp b/ArduCopter/mode_land.cpp
index 81ebd931a5..20c21436c5 100644
--- a/ArduCopter/mode_land.cpp
+++ b/ArduCopter/mode_land.cpp
@@ -1,17 +1,11 @@
 #include "Copter.h"
 
-// FIXME? why are these static?
-static bool land_with_gps;
-
-static uint32_t land_start_time;
-static bool land_pause;
-
 // land_init - initialise land controller
 bool ModeLand::init(bool ignore_checks)
 {
     // check if we have GPS and decide which LAND we're going to do
-    land_with_gps = copter.position_ok();
-    if (land_with_gps) {
+    control_position = copter.position_ok();
+    if (control_position) {
         // set target to stopping point
         Vector3f stopping_point;
         loiter_nav->get_stopping_point_xy(stopping_point);
@@ -54,7 +48,7 @@ bool ModeLand::init(bool ignore_checks)
 // should be called at 100hz or more
 void ModeLand::run()
 {
-    if (land_with_gps) {
+    if (control_position) {
         gps_run();
     } else {
         nogps_run();
@@ -150,7 +144,7 @@ void ModeLand::nogps_run()
 //  has no effect if we are not already in LAND mode
 void ModeLand::do_not_use_GPS()
 {
-    land_with_gps = false;
+    control_position = false;
 }
 
 // set_mode_land_with_pause - sets mode to LAND and triggers 4 second delay before descent starts
@@ -158,7 +152,7 @@ void ModeLand::do_not_use_GPS()
 void Copter::set_mode_land_with_pause(ModeReason reason)
 {
     set_mode(Mode::Number::LAND, reason);
-    land_pause = true;
+    mode_land.set_land_pause(true);
 
     // alert pilot to mode change
     AP_Notify::events.failsafe_mode_change = 1;
@@ -167,5 +161,6 @@ void Copter::set_mode_land_with_pause(ModeReason reason)
 // landing_with_GPS - returns true if vehicle is landing using GPS
 bool Copter::landing_with_GPS()
 {
-    return (flightmode->mode_number() == Mode::Number::LAND && land_with_gps);
+    return (flightmode->mode_number() == Mode::Number::LAND &&
+            mode_land.controlling_position());
 }