mirror of https://github.com/ArduPilot/ardupilot
203 lines
9.3 KiB
C++
203 lines
9.3 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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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_SpdHgtControl/AP_SpdHgtControl.h>
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#include <AP_Navigation/AP_Navigation.h>
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#include "AP_Landing_Deepstall.h"
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#include <AP_Common/Location.h>
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/// @class AP_Landing
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/// @brief Class managing ArduPlane landing methods
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class AP_Landing {
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friend class AP_Landing_Deepstall;
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public:
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FUNCTOR_TYPEDEF(set_target_altitude_proportion_fn_t, void, const Location&, float);
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FUNCTOR_TYPEDEF(constrain_target_altitude_location_fn_t, void, const Location&, const Location&);
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FUNCTOR_TYPEDEF(adjusted_altitude_cm_fn_t, int32_t);
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FUNCTOR_TYPEDEF(adjusted_relative_altitude_cm_fn_t, int32_t);
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FUNCTOR_TYPEDEF(disarm_if_autoland_complete_fn_t, void);
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FUNCTOR_TYPEDEF(update_flight_stage_fn_t, void);
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AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm,
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set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn,
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constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn,
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adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn,
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adjusted_relative_altitude_cm_fn_t _adjusted_relative_altitude_cm_fn,
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disarm_if_autoland_complete_fn_t _disarm_if_autoland_complete_fn,
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update_flight_stage_fn_t _update_flight_stage_fn);
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/* Do not allow copies */
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AP_Landing(const AP_Landing &other) = delete;
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AP_Landing &operator=(const AP_Landing&) = delete;
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// NOTE: make sure to update is_type_valid()
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enum Landing_Type {
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TYPE_STANDARD_GLIDE_SLOPE = 0,
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#if HAL_LANDING_DEEPSTALL_ENABLED
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TYPE_DEEPSTALL = 1,
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#endif
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// TODO: TYPE_PARACHUTE,
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// TODO: TYPE_HELICAL,
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};
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// we support upto 32 boolean bits for users wanting to change landing behaviour.
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enum OptionsMask {
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ON_LANDING_FLARE_USE_THR_MIN = (1<<0), // If set then set trottle to thr_min instead of zero on final flare
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};
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void do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
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bool verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc,
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const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed);
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bool verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc,
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const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
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void adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
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void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location ¤t_loc, int32_t &target_altitude_offset_cm);
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bool override_servos(void);
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void check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
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bool request_go_around(void);
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bool is_flaring(void) const;
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bool is_on_approach(void) const;
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bool is_ground_steering_allowed(void) const;
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bool is_throttle_suppressed(void) const;
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bool is_flying_forward(void) const;
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bool use_thr_min_during_flare(void) const; //defaults to false, but _options bit zero enables it.
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void handle_flight_stage_change(const bool _in_landing_stage);
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int32_t constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
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bool get_target_altitude_location(Location &location);
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bool send_landing_message(mavlink_channel_t chan);
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// terminate the flight with an immediate landing, returns false if unable to be used for termination
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bool terminate(void);
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// helper functions
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bool restart_landing_sequence(void);
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float wind_alignment(const float heading_deg);
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float head_wind(void);
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int32_t get_target_airspeed_cm(void);
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// accessor functions for the params and states
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static const struct AP_Param::GroupInfo var_info[];
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int16_t get_pitch_cd(void) const { return pitch_cd; }
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float get_flare_sec(void) const { return flare_sec; }
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int8_t get_disarm_delay(void) const { return disarm_delay; }
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int8_t get_then_servos_neutral(void) const { return then_servos_neutral; }
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int8_t get_abort_throttle_enable(void) const { return abort_throttle_enable; }
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int8_t get_flap_percent(void) const { return flap_percent; }
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int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
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bool is_commanded_go_around(void) const { return flags.commanded_go_around; }
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bool is_complete(void) const;
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void set_initial_slope(void) { initial_slope = slope; }
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bool is_expecting_impact(void) const;
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void Log(void) const;
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const AP_Logger::PID_Info * get_pid_info(void) const;
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// landing altitude offset (meters)
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float alt_offset;
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private:
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struct {
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// denotes if a go-around has been commanded for landing
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bool commanded_go_around:1;
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// are we in auto and flight_stage is LAND
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bool in_progress:1;
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} flags;
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AP_Int16 _options; // user-configurable bitmask options, via a parameter, for landing
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// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
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float initial_slope;
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// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / prev_WP_loc.get_distance(next_WP_loc)
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float slope;
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AP_Mission &mission;
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AP_AHRS &ahrs;
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AP_SpdHgtControl *SpdHgt_Controller;
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AP_Navigation *nav_controller;
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AP_Vehicle::FixedWing &aparm;
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set_target_altitude_proportion_fn_t set_target_altitude_proportion_fn;
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constrain_target_altitude_location_fn_t constrain_target_altitude_location_fn;
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adjusted_altitude_cm_fn_t adjusted_altitude_cm_fn;
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adjusted_relative_altitude_cm_fn_t adjusted_relative_altitude_cm_fn;
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disarm_if_autoland_complete_fn_t disarm_if_autoland_complete_fn;
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update_flight_stage_fn_t update_flight_stage_fn;
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#if HAL_LANDING_DEEPSTALL_ENABLED
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// support for deepstall landings
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AP_Landing_Deepstall deepstall;
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#endif
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AP_Int16 pitch_cd;
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AP_Float flare_alt;
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AP_Float flare_sec;
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AP_Float pre_flare_airspeed;
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AP_Float pre_flare_alt;
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AP_Float pre_flare_sec;
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AP_Float slope_recalc_shallow_threshold;
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AP_Float slope_recalc_steep_threshold_to_abort;
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AP_Int8 disarm_delay;
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AP_Int8 then_servos_neutral;
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AP_Int8 abort_throttle_enable;
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AP_Int8 flap_percent;
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AP_Int8 throttle_slewrate;
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AP_Int8 type;
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// Land Type STANDARD GLIDE SLOPE
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enum {
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SLOPE_STAGE_NORMAL,
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SLOPE_STAGE_APPROACH,
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SLOPE_STAGE_PREFLARE,
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SLOPE_STAGE_FINAL
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} type_slope_stage;
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struct {
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// once landed, post some landing statistics to the GCS
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bool post_stats:1;
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bool has_aborted_due_to_slope_recalc:1;
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} type_slope_flags;
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void type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
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void type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed);
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bool type_slope_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc,
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const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range);
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void type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location ¤t_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
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void type_slope_setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location ¤t_loc, int32_t &target_altitude_offset_cm);
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int32_t type_slope_get_target_airspeed_cm(void);
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void type_slope_check_if_need_to_abort(const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state);
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int32_t type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd);
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bool type_slope_request_go_around(void);
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void type_slope_log(void) const;
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bool type_slope_is_complete(void) const;
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bool type_slope_is_flaring(void) const;
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bool type_slope_is_on_approach(void) const;
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bool type_slope_is_expecting_impact(void) const;
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bool type_slope_is_throttle_suppressed(void) const;
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};
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