/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

//
// functions to support precision landing
//

#include "Copter.h"

#if PRECISION_LANDING == ENABLED

void Copter::init_precland()
{
    copter.precland.init();
}

void Copter::update_precland()
{
    int32_t height_above_ground_cm = current_loc.alt;

    // use range finder altitude if it is valid, else try to get terrain alt
    if (rangefinder_alt_ok()) {
        height_above_ground_cm = rangefinder_state.alt_cm;
    } else if (terrain_use()) {
        current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, height_above_ground_cm);
    }

    copter.precland.update(height_above_ground_cm);
}
#endif