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AP_Landing: set landing params as private and use accessors

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This commit is contained in:
Tom Pittenger 2016-11-23 02:17:34 -08:00 committed by Tom Pittenger
parent 98ae77d6a3
commit fe4cd7bbbd
1 changed files with 25 additions and 17 deletions
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42
libraries/AP_Landing/AP_Landing.h
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@ -80,6 +80,17 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// accessor functions for the params
int16_t get_pitch_cd(void) const { return pitch_cd; }
float get_flare_sec(void) const { return flare_sec; }
float get_pre_flare_airspeed(void) const { return pre_flare_airspeed; }
int8_t get_disarm_delay(void) const { return disarm_delay; }
int8_t get_then_servos_neutral(void) const { return then_servos_neutral; }
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; }
// Flag to indicate if we have landed. // Flag to indicate if we have landed.
// Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown // Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
bool complete; bool complete;
@ -105,23 +116,6 @@ public:
// denotes if a go-around has been commanded for landing // denotes if a go-around has been commanded for landing
bool commanded_go_around; bool commanded_go_around;
// TODO: move these to private
AP_Int16 pitch_cd;
AP_Float flare_alt;
AP_Float flare_sec;
AP_Float pre_flare_airspeed;
AP_Float pre_flare_alt;
AP_Float pre_flare_sec;
AP_Float slope_recalc_shallow_threshold;
AP_Float slope_recalc_steep_threshold_to_abort;
AP_Int8 disarm_delay;
AP_Int8 then_servos_neutral;
AP_Int8 abort_throttle_enable;
AP_Int8 flap_percent;
AP_Int8 throttle_slewrate;
private: private:
bool has_aborted_due_to_slope_recalc; bool has_aborted_due_to_slope_recalc;
@ -132,4 +126,18 @@ private:
AP_Navigation *nav_controller; AP_Navigation *nav_controller;
AP_Vehicle::FixedWing &aparm; AP_Vehicle::FixedWing &aparm;
AP_Int16 pitch_cd;
AP_Float flare_alt;
AP_Float flare_sec;
AP_Float pre_flare_airspeed;
AP_Float pre_flare_alt;
AP_Float pre_flare_sec;
AP_Float slope_recalc_shallow_threshold;
AP_Float slope_recalc_steep_threshold_to_abort;
AP_Int8 disarm_delay;
AP_Int8 then_servos_neutral;
AP_Int8 abort_throttle_enable;
AP_Int8 flap_percent;
AP_Int8 throttle_slewrate;
}; };