AP_Landing: re/move complete flag into backend

the complete flag was only ever true during FLIGHT_LAND_FINAL so we just check for that now instead

ArduPlane/is_flying.cpp

@@ -286,7 +286,6 @@ void Plane::crash_detection_update(void)
             if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
                 disarm_motors();
             }
-            landing.complete = true;
             if (crashed_near_land_waypoint) {
                 gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
             } else {

libraries/AP_Landing/AP_Landing.cpp

@@ -143,7 +143,6 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
 
 void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
 {
-    complete = false;
     commanded_go_around = false;
 
     switch (type) {
@@ -183,7 +182,6 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
         break;
-
     default:
         break;
     }
@@ -208,7 +206,6 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, wp_distance, target_altitude_offset_cm);
         break;
-
     default:
         break;
     }
@@ -224,7 +221,6 @@ bool AP_Landing::is_flaring(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_flaring();
-
     default:
         return false;
     }
@@ -240,7 +236,6 @@ bool AP_Landing::is_on_approach(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_on_approach();
-
     default:
         return false;
     }
@@ -256,7 +251,6 @@ bool AP_Landing::is_expecting_impact(void) const
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_is_expecting_impact();
-
     default:
         return false;
     }
@@ -278,7 +272,6 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
     case TYPE_STANDARD_GLIDE_SLOPE:
         type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
         break;
-
     default:
         break;
     }
@@ -386,7 +379,6 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_get_target_airspeed_cm();
-
     default:
         return SpdHgt_Controller->get_land_airspeed();
     }
@@ -401,7 +393,6 @@ bool AP_Landing::request_go_around(void)
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
         return type_slope_request_go_around();
-
     default:
         return false;
     }
@@ -413,4 +404,17 @@ void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
     commanded_go_around = false;
 }
 
+/*
+ * returns true when a landing is complete, usually used to disable throttle
+ */
+bool AP_Landing::is_complete(void) const
+{
+    switch (type) {
+    case TYPE_STANDARD_GLIDE_SLOPE:
+        return type_slope_is_complete();
+    default:
+        return true;
+    }
+}
+
 

libraries/AP_Landing/AP_Landing.h

@@ -97,14 +97,10 @@ public:
     int8_t get_flap_percent(void) const { return flap_percent; }
     int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
     bool is_commanded_go_around(void) const { return commanded_go_around; }
-    bool is_complete(void) const { return complete; }
+    bool is_complete(void) const;
     void set_initial_slope(void) { initial_slope = slope; }
     bool is_expecting_impact(void) const;
 
-    // Flag to indicate if we have landed.
-    // Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
-    bool complete;
-
     // landing altitude offset (meters)
     float alt_offset;
 
@@ -176,6 +172,7 @@ private:
     void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
     int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
     bool type_slope_request_go_around(void);
+    bool type_slope_is_complete(void) const;
     bool type_slope_is_flaring(void) const;
     bool type_slope_is_on_approach(void) const;
     bool type_slope_is_expecting_impact(void) const;

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -38,7 +38,6 @@ void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Lo
     // when aborting a landing, mimic the verify_takeoff with steering hold. Once
     // the altitude has been reached, restart the landing sequence
     throttle_suppressed = false;
-    complete = false;
     nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
 }
 
@@ -94,7 +93,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
         (!rangefinder_state_in_range && wp_proportion >= 1) ||
         probably_crashed) {
 
-        if (!complete) {
+        if (type_slope_stage != SLOPE_STAGE_FINAL) {
             post_stats = true;
             if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
                 GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
@@ -104,7 +103,6 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
                                   (double)ahrs.get_gps().ground_speed(),
                                   (double)get_distance(current_loc, next_WP_loc));
             }
-            complete = true;
             type_slope_stage = SLOPE_STAGE_FINAL;
         }
 
@@ -118,7 +116,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
             aparm.min_gndspeed_cm.load();
             aparm.throttle_cruise.load();
         }
-    } else if (!complete && type_slope_stage == SLOPE_STAGE_APPROACH && pre_flare_airspeed > 0) {
+    } else if (type_slope_stage == SLOPE_STAGE_APPROACH && pre_flare_airspeed > 0) {
         bool reached_pre_flare_alt = pre_flare_alt > 0 && (height <= pre_flare_alt);
         bool reached_pre_flare_sec = pre_flare_sec > 0 && (height <= sink_rate * pre_flare_sec);
         if (reached_pre_flare_alt || reached_pre_flare_sec) {
@@ -145,7 +143,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
     }
 
     // check if we should auto-disarm after a confirmed landing
-    if (complete) {
+    if (type_slope_stage == SLOPE_STAGE_FINAL) {
         disarm_if_autoland_complete_fn();
     }
 
@@ -371,3 +369,9 @@ bool AP_Landing::type_slope_is_expecting_impact(void) const
     return (type_slope_stage == SLOPE_STAGE_PREFLARE ||
             type_slope_stage == SLOPE_STAGE_FINAL);
 }
+
+bool AP_Landing::type_slope_is_complete(void) const
+{
+    return (type_slope_stage == SLOPE_STAGE_FINAL);
+}
+