From e2157d8b9f48aa4e784a856a4dadfe87e1d6f6f8 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 5 Oct 2023 11:50:51 +1100
Subject: [PATCH] Copter: remove un-needed PayloadPlace::run_should_run

make this look like the other handling, especially in terms of what we do if we shouldn't be running
---
 ArduCopter/mode.h        |  1 -
 ArduCopter/mode_auto.cpp | 27 ++-------------------------
 2 files changed, 2 insertions(+), 26 deletions(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 06ec5f33af..58559ba532 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -52,7 +52,6 @@ public:
     float descent_max_cm;
 
 private:
-    bool run_should_run();
     void run_hover();
     void run_descent();
     void run_release();
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index 2ba2ae7583..740b7cae70 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -1164,8 +1164,8 @@ void PayloadPlace::run()
 {
     const char* prefix_str = "PayloadPlace:";
 
-    if (!run_should_run()) {
-        copter.flightmode->zero_throttle_and_relax_ac();
+    if (copter.flightmode->is_disarmed_or_landed()) {
+        copter.flightmode->make_safe_ground_handling();
         return;
     }
 
@@ -1369,29 +1369,6 @@ void PayloadPlace::run()
     }
 }
 
-bool PayloadPlace::run_should_run()
-{
-    // must be armed
-    if (!copter.motors->armed()) {
-        return false;
-    }
-    // must be auto-armed
-    if (!copter.ap.auto_armed) {
-        return false;
-    }
-    // must not be landed
-    if (copter.ap.land_complete &&
-        (state == State::FlyToLocation || state == State::Descent_Start)) {
-        return false;
-    }
-    // interlock must be enabled (i.e. unsafe)
-    if (!copter.motors->get_interlock()) {
-        return false;
-    }
-
-    return true;
-}
-
 void PayloadPlace::run_hover()
 {
     const auto &pos_control = copter.pos_control;