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https://github.com/ArduPilot/ardupilot
synced 2025-01-03 06:28:27 -04:00
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
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4cf1c74c62
commit
bdafc2c025
@ -286,7 +286,6 @@ void Plane::crash_detection_update(void)
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if (aparm.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
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disarm_motors();
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}
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landing.complete = true;
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if (crashed_near_land_waypoint) {
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gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
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} else {
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@ -143,7 +143,6 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
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void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
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{
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complete = false;
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commanded_go_around = false;
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switch (type) {
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@ -183,7 +182,6 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_verify_abort_landing(prev_WP_loc, next_WP_loc, throttle_suppressed);
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break;
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default:
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break;
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}
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@ -208,7 +206,6 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, wp_distance, target_altitude_offset_cm);
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break;
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default:
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break;
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}
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@ -224,7 +221,6 @@ bool AP_Landing::is_flaring(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_flaring();
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default:
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return false;
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}
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@ -240,7 +236,6 @@ bool AP_Landing::is_on_approach(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_on_approach();
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default:
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return false;
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}
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@ -256,7 +251,6 @@ bool AP_Landing::is_expecting_impact(void) const
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_expecting_impact();
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default:
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return false;
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}
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@ -278,7 +272,6 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
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case TYPE_STANDARD_GLIDE_SLOPE:
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type_slope_setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude_offset_cm);
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break;
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default:
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break;
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}
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@ -386,7 +379,6 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_get_target_airspeed_cm();
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default:
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return SpdHgt_Controller->get_land_airspeed();
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}
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@ -401,7 +393,6 @@ bool AP_Landing::request_go_around(void)
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_request_go_around();
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default:
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return false;
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}
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@ -413,4 +404,17 @@ void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
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commanded_go_around = false;
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}
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/*
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* returns true when a landing is complete, usually used to disable throttle
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*/
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bool AP_Landing::is_complete(void) const
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{
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switch (type) {
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case TYPE_STANDARD_GLIDE_SLOPE:
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return type_slope_is_complete();
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default:
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return true;
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}
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}
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@ -97,14 +97,10 @@ public:
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int8_t get_flap_percent(void) const { return flap_percent; }
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int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
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bool is_commanded_go_around(void) const { return commanded_go_around; }
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bool is_complete(void) const { return complete; }
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bool is_complete(void) const;
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void set_initial_slope(void) { initial_slope = slope; }
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bool is_expecting_impact(void) const;
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// Flag to indicate if we have landed.
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// Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
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bool complete;
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// landing altitude offset (meters)
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float alt_offset;
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@ -176,6 +172,7 @@ private:
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void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
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int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
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bool type_slope_request_go_around(void);
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bool type_slope_is_complete(void) const;
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bool type_slope_is_flaring(void) const;
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bool type_slope_is_on_approach(void) const;
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bool type_slope_is_expecting_impact(void) const;
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@ -38,7 +38,6 @@ void AP_Landing::type_slope_verify_abort_landing(const Location &prev_WP_loc, Lo
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// when aborting a landing, mimic the verify_takeoff with steering hold. Once
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// the altitude has been reached, restart the landing sequence
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throttle_suppressed = false;
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complete = false;
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nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
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}
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@ -94,7 +93,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
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(!rangefinder_state_in_range && wp_proportion >= 1) ||
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probably_crashed) {
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if (!complete) {
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if (type_slope_stage != SLOPE_STAGE_FINAL) {
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post_stats = true;
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if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
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GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
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@ -104,7 +103,6 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
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(double)ahrs.get_gps().ground_speed(),
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(double)get_distance(current_loc, next_WP_loc));
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}
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complete = true;
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type_slope_stage = SLOPE_STAGE_FINAL;
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}
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@ -118,7 +116,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
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aparm.min_gndspeed_cm.load();
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aparm.throttle_cruise.load();
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}
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} else if (!complete && type_slope_stage == SLOPE_STAGE_APPROACH && pre_flare_airspeed > 0) {
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} else if (type_slope_stage == SLOPE_STAGE_APPROACH && pre_flare_airspeed > 0) {
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bool reached_pre_flare_alt = pre_flare_alt > 0 && (height <= pre_flare_alt);
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bool reached_pre_flare_sec = pre_flare_sec > 0 && (height <= sink_rate * pre_flare_sec);
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if (reached_pre_flare_alt || reached_pre_flare_sec) {
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@ -145,7 +143,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
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}
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// check if we should auto-disarm after a confirmed landing
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if (complete) {
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if (type_slope_stage == SLOPE_STAGE_FINAL) {
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disarm_if_autoland_complete_fn();
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}
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@ -371,3 +369,9 @@ bool AP_Landing::type_slope_is_expecting_impact(void) const
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return (type_slope_stage == SLOPE_STAGE_PREFLARE ||
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type_slope_stage == SLOPE_STAGE_FINAL);
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}
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bool AP_Landing::type_slope_is_complete(void) const
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{
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return (type_slope_stage == SLOPE_STAGE_FINAL);
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}
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