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AP_Landing: adjust for location flags being moved out of union

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Peter Barker 2019-01-02 11:03:00 +11:00 committed by Peter Barker
parent 30d5d6b578
commit e8da58201a
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -160,7 +160,7 @@ void AP_Landing_Deepstall::do_land(const AP_Mission::Mission_Command& cmd, const
// load the landing point in, the rest of path building is deferred for a better wind estimate // load the landing point in, the rest of path building is deferred for a better wind estimate
memcpy(&landing_point, &cmd.content.location, sizeof(Location)); memcpy(&landing_point, &cmd.content.location, sizeof(Location));
if (!landing_point.flags.relative_alt && !landing_point.flags.terrain_alt) { if (!landing_point.relative_alt && !landing_point.terrain_alt) {
approach_alt_offset = cmd.p1; approach_alt_offset = cmd.p1;
landing_point.alt += approach_alt_offset * 100; landing_point.alt += approach_alt_offset * 100;
} else { } else {
@ -196,7 +196,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
FALLTHROUGH; FALLTHROUGH;
case DEEPSTALL_STAGE_ESTIMATE_WIND: case DEEPSTALL_STAGE_ESTIMATE_WIND:
{ {
landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, landing_point.flags.loiter_ccw ? -1 : 1); landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, landing_point.loiter_ccw ? -1 : 1);
if (!landing.nav_controller->reached_loiter_target() || (fabsf(height - approach_alt_offset) > DEEPSTALL_LOITER_ALT_TOLERANCE)) { if (!landing.nav_controller->reached_loiter_target() || (fabsf(height - approach_alt_offset) > DEEPSTALL_LOITER_ALT_TOLERANCE)) {
// wait until the altitude is correct before considering a breakout // wait until the altitude is correct before considering a breakout
return false; return false;
@ -204,7 +204,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
// only count loiter progress when within the target altitude // only count loiter progress when within the target altitude
int32_t target_bearing = landing.nav_controller->target_bearing_cd(); int32_t target_bearing = landing.nav_controller->target_bearing_cd();
int32_t delta = wrap_180_cd(target_bearing - last_target_bearing); int32_t delta = wrap_180_cd(target_bearing - last_target_bearing);
delta *= (landing_point.flags.loiter_ccw ? -1 : 1); delta *= (landing_point.loiter_ccw ? -1 : 1);
if (delta > 0) { // only accumulate turns in the correct direction if (delta > 0) { // only accumulate turns in the correct direction
loiter_sum_cd += delta; loiter_sum_cd += delta;
} }
@ -232,7 +232,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
loiter_sum_cd += delta; loiter_sum_cd += delta;
} }
last_target_bearing = target_bearing; last_target_bearing = target_bearing;
landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, landing_point.flags.loiter_ccw ? -1 : 1); landing.nav_controller->update_loiter(landing_point, landing.aparm.loiter_radius, landing_point.loiter_ccw ? -1 : 1);
return false; return false;
} }
stage = DEEPSTALL_STAGE_FLY_TO_ARC; stage = DEEPSTALL_STAGE_FLY_TO_ARC;
@ -251,7 +251,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
if (!landing.nav_controller->reached_loiter_target() || if (!landing.nav_controller->reached_loiter_target() ||
(fabsf(wrap_180(target_heading_deg - (fabsf(wrap_180(target_heading_deg -
degrees(atan2f(-groundspeed.y, -groundspeed.x) + M_PI))) >= 10.0f)) { degrees(atan2f(-groundspeed.y, -groundspeed.x) + M_PI))) >= 10.0f)) {
landing.nav_controller->update_loiter(arc, landing.aparm.loiter_radius, landing_point.flags.loiter_ccw ? -1 : 1); landing.nav_controller->update_loiter(arc, landing.aparm.loiter_radius, landing_point.loiter_ccw ? -1 : 1);
return false; return false;
} }
stage = DEEPSTALL_STAGE_APPROACH; stage = DEEPSTALL_STAGE_APPROACH;
@ -499,7 +499,7 @@ void AP_Landing_Deepstall::build_approach_path(bool use_current_heading)
memcpy(&arc, &arc_exit, sizeof(Location)); memcpy(&arc, &arc_exit, sizeof(Location));
memcpy(&arc_entry, &arc_exit, sizeof(Location)); memcpy(&arc_entry, &arc_exit, sizeof(Location));
float arc_heading_deg = target_heading_deg + (landing_point.flags.loiter_ccw ? -90.0f : 90.0f); float arc_heading_deg = target_heading_deg + (landing_point.loiter_ccw ? -90.0f : 90.0f);
location_update(arc, arc_heading_deg, loiter_radius_m_abs); location_update(arc, arc_heading_deg, loiter_radius_m_abs);
location_update(arc_entry, arc_heading_deg, loiter_radius_m_abs * 2); location_update(arc_entry, arc_heading_deg, loiter_radius_m_abs * 2);