From d5a5f4f8632b346ba47eb06d1c1a12a9719c57ae Mon Sep 17 00:00:00 2001 From: rishabsingh3003 Date: Sun, 3 Sep 2023 23:11:24 -0400 Subject: [PATCH] AC_PrecLand: Allow fast descend --- libraries/AC_PrecLand/AC_PrecLand.cpp | 2 +- libraries/AC_PrecLand/AC_PrecLand.h | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp index 398286b878..3b849beb6c 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.cpp +++ b/libraries/AC_PrecLand/AC_PrecLand.cpp @@ -178,7 +178,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = { // @Param: OPTIONS // @DisplayName: Precision Landing Extra Options // @Description: Precision Landing Extra Options - // @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition + // @Bitmask: 0: Moving Landing Target, 1: Allow Precision Landing after manual reposition, 2: Do not slow vertical speed in final descend phase // @User: Advanced AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0), diff --git a/libraries/AC_PrecLand/AC_PrecLand.h b/libraries/AC_PrecLand/AC_PrecLand.h index 6826bded51..aeaa44790d 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.h +++ b/libraries/AC_PrecLand/AC_PrecLand.h @@ -114,6 +114,7 @@ public: AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast(_retry_behave.get()); } bool allow_precland_after_reposition() const { return _options & PLND_OPTION_PRECLAND_AFTER_REPOSITION; } + bool do_fast_descend() const {return _options & PLND_OPTION_FAST_DESCEND; } // parameter var table static const struct AP_Param::GroupInfo var_info[]; @@ -145,6 +146,7 @@ private: PLND_OPTION_DISABLED = 0, PLND_OPTION_MOVING_TARGET = (1 << 0), PLND_OPTION_PRECLAND_AFTER_REPOSITION = (1 << 1), + PLND_OPTION_FAST_DESCEND = (1 << 2), }; // check the status of the target