mirror of https://github.com/ArduPilot/ardupilot
36 lines
822 B
C++
36 lines
822 B
C++
#include "mode.h"
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#include "Plane.h"
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#if HAL_QUADPLANE_ENABLED
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bool ModeQLand::_enter()
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{
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plane.mode_qloiter._enter();
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quadplane.throttle_wait = false;
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quadplane.setup_target_position();
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poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND);
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poscontrol.pilot_correction_done = false;
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quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
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quadplane.landing_detect.lower_limit_start_ms = 0;
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quadplane.landing_detect.land_start_ms = 0;
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#if LANDING_GEAR_ENABLED == ENABLED
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plane.g2.landing_gear.deploy_for_landing();
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#endif
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#if AP_FENCE_ENABLED
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plane.fence.auto_disable_fence_for_landing();
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#endif
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return true;
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}
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void ModeQLand::update()
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{
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plane.mode_qstabilize.update();
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}
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void ModeQLand::run()
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{
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plane.mode_qloiter.run();
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}
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#endif
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