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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
This commit is contained in:
Peter Barker 2023-10-05 11:50:51 +11:00 committed by Peter Barker
parent 5820a9bc2f
commit e2157d8b9f
2 changed files with 2 additions and 26 deletions
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1
ArduCopter/mode.h
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@ -52,7 +52,6 @@ public:
float descent_max_cm;
private:
bool run_should_run();
void run_hover();
void run_descent();
void run_release();

27
ArduCopter/mode_auto.cpp
View File

@ -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;