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Copter: use new APIs for takeoff/touchdown expected

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This commit is contained in:
Andrew Tridgell 2021-05-29 09:54:15 +10:00 committed by Randy Mackay
parent 32b079911f
commit 1371fd7e6f
1 changed files with 4 additions and 4 deletions
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8
ArduCopter/baro_ground_effect.cpp
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@ -6,8 +6,8 @@ void Copter::update_ground_effect_detector(void)
// disarmed - disable ground effect and return
gndeffect_state.takeoff_expected = false;
gndeffect_state.touchdown_expected = false;
ahrs.setTakeoffExpected(gndeffect_state.takeoff_expected);
ahrs.setTouchdownExpected(gndeffect_state.touchdown_expected);
ahrs.set_takeoff_expected(gndeffect_state.takeoff_expected);
ahrs.set_touchdown_expected(gndeffect_state.touchdown_expected);
return;
}
@ -64,8 +64,8 @@ void Copter::update_ground_effect_detector(void)
gndeffect_state.touchdown_expected = slow_horizontal && slow_descent;
// Prepare the EKF for ground effect if either takeoff or touchdown is expected.
ahrs.setTakeoffExpected(gndeffect_state.takeoff_expected);
ahrs.setTouchdownExpected(gndeffect_state.touchdown_expected);
ahrs.set_takeoff_expected(gndeffect_state.takeoff_expected);
ahrs.set_touchdown_expected(gndeffect_state.touchdown_expected);
}
// update ekf terrain height stable setting