mirror of https://github.com/ArduPilot/ardupilot
33 lines
736 B
C++
33 lines
736 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//
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// functions to support precision landing
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//
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#include "Sub.h"
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#if PRECISION_LANDING == ENABLED
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void Sub::init_precland()
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{
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sub.precland.init();
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}
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void Sub::update_precland()
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{
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int32_t height_above_ground_cm = current_loc.alt;
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// use range finder altitude if it is valid, else try to get terrain alt
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if (rangefinder_alt_ok()) {
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height_above_ground_cm = rangefinder_state.alt_cm;
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} else if (terrain_use()) {
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current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, height_above_ground_cm);
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}
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sub.precland.update(height_above_ground_cm);
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// log output
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Log_Write_Precland();
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}
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#endif
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