AP_TECS: removed dependency on soaring controller

libraries/AP_TECS/AP_TECS.cpp

@@ -761,11 +761,6 @@ void AP_TECS::_detect_bad_descent(void)
     {
         _flags.badDescent = false;
     }
-
-    // when soaring is active we never trigger a bad descent
-    if (_soaring_controller.is_active() && _soaring_controller.get_throttle_suppressed()) {
-        _flags.badDescent = false;        
-    }
 }
 
 void AP_TECS::_update_pitch(void)
@@ -946,7 +941,8 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
                                     int32_t ptchMinCO_cd,
                                     int16_t throttle_nudge,
                                     float hgt_afe,
-                                    float load_factor)
+                                    float load_factor,
+                                    bool soaring_active)
 {
     // Calculate time in seconds since last update
     uint64_t now = AP_HAL::micros64();
@@ -1072,6 +1068,11 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
     // Detect bad descent due to demanded airspeed being too high
     _detect_bad_descent();
 
+    // when soaring is active we never trigger a bad descent
+    if (soaring_active) {
+        _flags.badDescent = false;        
+    }
+
     // Calculate pitch demand
     _update_pitch();
 

libraries/AP_TECS/AP_TECS.h

@@ -25,15 +25,13 @@
 #include <AP_SpdHgtControl/AP_SpdHgtControl.h>
 #include <DataFlash/DataFlash.h>
 #include <AP_Landing/AP_Landing.h>
-#include <AP_Soaring/AP_Soaring.h>
 
 class AP_TECS : public AP_SpdHgtControl {
 public:
-    AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing, const SoaringController &soaring_controller)
+    AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing)
         : _ahrs(ahrs)
         , aparm(parms)
         , _landing(landing)
-        , _soaring_controller(soaring_controller)
     {
         AP_Param::setup_object_defaults(this, var_info);
     }
@@ -45,7 +43,7 @@ public:
     // Update of the estimated height and height rate internal state
     // Update of the inertial speed rate internal state
     // Should be called at 50Hz or greater
-    void update_50hz(void);
+    void update_50hz(void) override;
 
     // Update the control loop calculations
     void update_pitch_throttle(int32_t hgt_dem_cm,
@@ -55,47 +53,48 @@ public:
                                int32_t ptchMinCO_cd,
                                int16_t throttle_nudge,
                                float hgt_afe,
-                               float load_factor);
+                               float load_factor,
+                               bool soaring_active) override;
 
     // demanded throttle in percentage
     // should return -100 to 100, usually positive unless reverse thrust is enabled via _THRminf < 0
-    int32_t get_throttle_demand(void) {
+    int32_t get_throttle_demand(void) override {
         return int32_t(_throttle_dem * 100.0f);
     }
 
     // demanded pitch angle in centi-degrees
     // should return between -9000 to +9000
-    int32_t get_pitch_demand(void) {
+    int32_t get_pitch_demand(void) override {
         return int32_t(_pitch_dem * 5729.5781f);
     }
 
     // Rate of change of velocity along X body axis in m/s^2
-    float get_VXdot(void) {
+    float get_VXdot(void) override {
         return _vel_dot;
     }
 
     // return current target airspeed
-    float get_target_airspeed(void) const {
+    float get_target_airspeed(void) const override {
         return _TAS_dem / _ahrs.get_EAS2TAS();
     }
 
     // return maximum climb rate
-    float get_max_climbrate(void) const {
+    float get_max_climbrate(void) const override {
         return _maxClimbRate;
     }
 
     // added to let SoaringContoller reset pitch integrator to zero
-    void reset_pitch_I(void) {
+    void reset_pitch_I(void) override {
         _integSEB_state = 0.0f;
     }
     
     // return landing sink rate
-    float get_land_sinkrate(void) const {
+    float get_land_sinkrate(void) const override {
         return _land_sink;
     }
 
     // return landing airspeed
-    float get_land_airspeed(void) const {
+    float get_land_airspeed(void) const override {
         return _landAirspeed;
     }
 
@@ -105,7 +104,7 @@ public:
     }
 
     // set path_proportion
-    void set_path_proportion(float path_proportion) {
+    void set_path_proportion(float path_proportion) override {
         _path_proportion = constrain_float(path_proportion, 0.0f, 1.0f);
     }
 
@@ -140,9 +139,6 @@ private:
     // reference to const AP_Landing to access it's params
     const AP_Landing &_landing;
     
-    // reference to const SoaringController to access its state
-    const SoaringController &_soaring_controller;
-
     // TECS tuning parameters
     AP_Float _hgtCompFiltOmega;
     AP_Float _spdCompFiltOmega;