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Plane: mode_qloiter: combine enter and init

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Iampete1 2021-09-04 20:21:04 +01:00 committed by Andrew Tridgell
parent 70d9d20faf
commit fa908b0a1d
1 changed files with 2 additions and 6 deletions
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8
ArduPlane/mode_qloiter.cpp
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@ -2,11 +2,6 @@
#include "Plane.h" #include "Plane.h"
bool ModeQLoiter::_enter() bool ModeQLoiter::_enter()
{
return plane.mode_qstabilize._enter();
}
void ModeQLoiter::init()
{ {
// initialise loiter // initialise loiter
loiter_nav->clear_pilot_desired_acceleration(); loiter_nav->clear_pilot_desired_acceleration();
@ -23,6 +18,7 @@ void ModeQLoiter::init()
// prevent re-init of target position // prevent re-init of target position
quadplane.last_loiter_ms = AP_HAL::millis(); quadplane.last_loiter_ms = AP_HAL::millis();
return true;
} }
void ModeQLoiter::update() void ModeQLoiter::update()
@ -43,7 +39,7 @@ void ModeQLoiter::run()
return; return;
} }
if (!quadplane.motors->armed()) { if (!quadplane.motors->armed()) {
plane.mode_qloiter.init(); plane.mode_qloiter._enter();
} }
quadplane.check_attitude_relax(); quadplane.check_attitude_relax();