mirror of https://github.com/ArduPilot/ardupilot
31 lines
598 B
C++
31 lines
598 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 "Copter.h"
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#if PRECISION_LANDING == ENABLED
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void Copter::init_precland()
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{
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copter.precland.init();
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}
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void Copter::update_precland()
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{
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float final_alt = current_loc.alt;
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// use range finder altitude if it is valid
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if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
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final_alt = sonar_alt;
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}
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copter.precland.update(final_alt);
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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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