Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-26 18:48:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Landing: use a common reset for uniform landing wipe

Browse Source
This commit is contained in:
Tom Pittenger 2016-12-06 17:30:10 -08:00
parent 7daf1a87be
commit f09007cbe9
3 changed files with 17 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
libraries/AP_Landing/AP_Landing.cpp
View File

@ -189,14 +189,16 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
/*
* initialize state for new nav command
*/
void AP_Landing::init_start_nav_cmd(void)
void AP_Landing::reset(void)
{
switch (type) {
default:
case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_init_start_nav_cmd();
break;
}
complete = false;
pre_flare = false;
commanded_go_around = false;
initial_slope = 0;
slope = 0;
// once landed, post some landing statistics to the GCS
post_stats = false;
}
/*

16
libraries/AP_Landing/AP_Landing.h
View File

@ -74,6 +74,7 @@ public:
// helper functions
void reset(void);
bool restart_landing_sequence(void);
float wind_alignment(const float heading_deg);
float head_wind(void);
@ -89,8 +90,8 @@ public:
int8_t get_abort_throttle_enable(void) const { return abort_throttle_enable; }
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; }
void set_initial_slope() { initial_slope = slope; }
// Flag to indicate if we have landed.
@ -103,12 +104,6 @@ public:
// are we in auto and flight mode is approach || pre-flare || final (flare)
bool in_progress;
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc)
float slope;
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
float initial_slope;
// landing altitude offset (meters)
float alt_offset;
@ -122,6 +117,12 @@ private:
// denotes if a go-around has been commanded for landing
bool commanded_go_around;
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
float initial_slope;
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc)
float slope;
AP_Mission &mission;
AP_AHRS &ahrs;
AP_SpdHgtControl *SpdHgt_Controller;
@ -159,7 +160,6 @@ 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);
};

10
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -300,14 +300,4 @@ void AP_Landing::type_slope_setup_landing_glide_slope(const Location &prev_WP_lo
constrain_target_altitude_location_fn(loc, prev_WP_loc);
}
void AP_Landing::type_slope_init_start_nav_cmd(void)
{
complete = false;
pre_flare = false;
// if a go around had been commanded, clear it now.
commanded_go_around = false;
// once landed, post some landing statistics to the GCS
post_stats = false;
}