mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 07:28:29 -04:00
63 lines
1.6 KiB
C++
63 lines
1.6 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "Plane.h"
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#define FORCE_VERSION_H_INCLUDE
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#include "version.h"
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#undef FORCE_VERSION_H_INCLUDE
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const AP_HAL::HAL& hal = AP_HAL::get_HAL();
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/*
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constructor for main Plane class
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*/
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Plane::Plane(void)
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: logger(g.log_bitmask)
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{
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// C++11 doesn't allow in-class initialisation of bitfields
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auto_state.takeoff_complete = true;
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}
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Plane plane;
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AP_Vehicle& vehicle = plane;
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#if AP_SCRIPTING_ENABLED
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// returns true if vehicle is landing. Only used by Lua scripts
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bool Plane::is_landing() const
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{
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#if HAL_QUADPLANE_ENABLED
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return plane.quadplane.in_vtol_land_descent();
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#endif // HAL_QUADPLANE_ENABLED
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return control_mode->is_landing();
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}
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// returns true if vehicle is taking off. Only used by Lua scripts
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bool Plane::is_taking_off() const
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{
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#if HAL_QUADPLANE_ENABLED
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return plane.quadplane.in_vtol_takeoff();
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#endif // HAL_QUADPLANE_ENABLED
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return control_mode->is_taking_off();
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}
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#endif // AP_SCRIPTING_ENABLED
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