31 lines
598 B
C++
31 lines
598 B
C++
|
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
||
|
|
|
||
|
|
//
|
||
|
|
// functions to support precision landing
|
||
|
|
//
|
||
|
|
|
||
|
|
#include "Copter.h"
|
||
|
|
|
||
|
|
#if PRECISION_LANDING == ENABLED
|
||
|
|
|
||
|
|
void Copter::init_precland()
|
||
|
|
{
|
||
|
|
copter.precland.init();
|
||
|
|
}
|
||
|
|
|
||
|
|
void Copter::update_precland()
|
||
|
|
{
|
||
|
|
float final_alt = current_loc.alt;
|
||
|
|
|
||
|
|
// use range finder altitude if it is valid
|
||
|
|
if (sonar_enabled && (sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
|
||
|
|
final_alt = sonar_alt;
|
||
|
|
}
|
||
|
|
|
||
|
|
copter.precland.update(final_alt);
|
||
|
|
|
||
|
|
// log output
|
||
|
|
Log_Write_Precland();
|
||
|
|
}
|
||
|
|
#endif
|