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AC_PrecLand: Allow fast descend

This commit is contained in:
rishabsingh3003 2023-09-03 23:11:24 -04:00 committed by Peter Barker
parent cc25f2915a
commit d5a5f4f863
2 changed files with 3 additions and 1 deletions
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2
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -178,7 +178,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @Param: OPTIONS // @Param: OPTIONS
// @DisplayName: Precision Landing Extra Options // @DisplayName: Precision Landing Extra Options
// @Description: 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 // @User: Advanced
AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0), AP_GROUPINFO("OPTIONS", 17, AC_PrecLand, _options, 0),

2
libraries/AC_PrecLand/AC_PrecLand.h
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@ -114,6 +114,7 @@ public:
AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); } AC_PrecLand_StateMachine::RetryAction get_retry_behaviour() const { return static_cast<AC_PrecLand_StateMachine::RetryAction>(_retry_behave.get()); }
bool allow_precland_after_reposition() const { return _options & PLND_OPTION_PRECLAND_AFTER_REPOSITION; } 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 // parameter var table
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -145,6 +146,7 @@ private:
PLND_OPTION_DISABLED = 0, PLND_OPTION_DISABLED = 0,
PLND_OPTION_MOVING_TARGET = (1 << 0), PLND_OPTION_MOVING_TARGET = (1 << 0),
PLND_OPTION_PRECLAND_AFTER_REPOSITION = (1 << 1), PLND_OPTION_PRECLAND_AFTER_REPOSITION = (1 << 1),
PLND_OPTION_FAST_DESCEND = (1 << 2),
}; };
// check the status of the target // check the status of the target