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Plane: update based on PR feedback

This commit is contained in:
Zach Flathers 2023-06-17 11:29:20 -07:00 committed by Tom Pittenger
parent 6177cbbfe2
commit b35b94f553
2 changed files with 7 additions and 13 deletions
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18
ArduPlane/Plane.cpp
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@ -38,11 +38,11 @@ AP_Vehicle& vehicle = plane;
// returns true if vehicle is landing. Only used by Lua scripts // returns true if vehicle is landing. Only used by Lua scripts
bool Plane::is_landing() const bool Plane::is_landing() const
{ {
#if HAL_QUADPLANE_ENABLED #if HAL_QUADPLANE_ENABLED
if (plane.quadplane.in_vtol_land_descent()) {
return plane.quadplane.in_vtol_land_descent(); return true;
}
#endif // HAL_QUADPLANE_ENABLED #endif
return control_mode->is_landing(); return control_mode->is_landing();
} }
@ -50,13 +50,7 @@ bool Plane::is_landing() const
// returns true if vehicle is taking off. Only used by Lua scripts // returns true if vehicle is taking off. Only used by Lua scripts
bool Plane::is_taking_off() const bool Plane::is_taking_off() const
{ {
#if HAL_QUADPLANE_ENABLED return control_mode->is_taking_off() || (started_flying_ms > 0 && millis() - started_flying_ms < 30000);
return plane.quadplane.in_vtol_takeoff();
#endif // HAL_QUADPLANE_ENABLED
return control_mode->is_taking_off();
} }
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED

2
ArduPlane/mode_auto.cpp
View File

@ -168,7 +168,7 @@ bool ModeAuto::is_landing() const
case MAV_CMD_DO_VTOL_TRANSITION: case MAV_CMD_DO_VTOL_TRANSITION:
return true; return true;
} }
return false; return plane.mission.get_in_landing_sequence_flag();
} }
bool ModeAuto::is_taking_off() const bool ModeAuto::is_taking_off() const