From e061e1734cc7d4ba936c611a6ca179b0a39b35a9 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Tue, 6 Dec 2016 12:21:04 -0800
Subject: [PATCH] AP_Landing: abstract land abort request method

---
 libraries/AP_Landing/AP_Landing.cpp       | 15 +++++++++++++++
 libraries/AP_Landing/AP_Landing.h         |  9 ++++++---
 libraries/AP_Landing/AP_Landing_Slope.cpp |  7 +++++++
 3 files changed, 28 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
index e3f780db48..39f2336870 100644
--- a/libraries/AP_Landing/AP_Landing.cpp
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -322,3 +322,18 @@ int32_t AP_Landing::get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage f
     // Do not lower it or exceed cruise speed
     return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, aparm.airspeed_cruise_cm);
 }
+
+/*
+ * request a landing abort given the landing type
+ * return true on success
+ */
+bool AP_Landing::request_go_around(void)
+{
+    switch (type) {
+    default:
+    case TYPE_STANDARD_GLIDE_SLOPE:
+        return type_slope_request_go_around();
+    }
+}
+
+
diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
index cb568cbf68..6f01041bb5 100644
--- a/libraries/AP_Landing/AP_Landing.h
+++ b/libraries/AP_Landing/AP_Landing.h
@@ -73,6 +73,7 @@ public:
 
     void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
     void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
+    bool request_go_around(void);
 
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -90,6 +91,7 @@ public:
     int8_t get_flap_percent(void) const { return flap_percent; }
     int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
     void init_start_nav_cmd(void);
+    bool is_commanded_go_around(void) const { return commanded_go_around; }
 
 
     // Flag to indicate if we have landed.
@@ -111,9 +113,6 @@ public:
     // landing altitude offset (meters)
     float alt_offset;
 
-    // denotes if a go-around has been commanded for landing
-    bool commanded_go_around;
-
 private:
 
     // once landed, post some landing statistics to the GCS
@@ -121,6 +120,9 @@ private:
 
     bool has_aborted_due_to_slope_recalc;
 
+    // denotes if a go-around has been commanded for landing
+    bool commanded_go_around;
+
     AP_Mission &mission;
     AP_AHRS &ahrs;
     AP_SpdHgtControl *SpdHgt_Controller;
@@ -159,5 +161,6 @@ private:
     void type_slope_setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
     void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
     void type_slope_init_start_nav_cmd(void);
+    bool type_slope_request_go_around(void);
 
 };
diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
index 72d1c27bc0..e33b03fa21 100644
--- a/libraries/AP_Landing/AP_Landing_Slope.cpp
+++ b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -197,6 +197,13 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
     }
 }
 
+
+bool AP_Landing::type_slope_request_go_around(void)
+{
+    commanded_go_around = true;
+    return true;
+}
+
 /*
   a special glide slope calculation for the landing approach