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Plane: QLand: move functions to ModeQLand

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Iampete1 2021-08-14 19:55:03 +01:00 committed by Andrew Tridgell
parent 737096f342
commit 921116e7a3
2 changed files with 22 additions and 24 deletions
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22
ArduPlane/mode_qland.cpp
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@ -6,8 +6,30 @@ bool ModeQLand::_enter()
return plane.mode_qstabilize._enter();
}
void ModeQLand::init()
{
plane.mode_qloiter.init();
quadplane.throttle_wait = false;
quadplane.setup_target_position();
poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND);
poscontrol.pilot_correction_done = false;
quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
quadplane.landing_detect.lower_limit_start_ms = 0;
quadplane.landing_detect.land_start_ms = 0;
#if LANDING_GEAR_ENABLED == ENABLED
plane.g2.landing_gear.deploy_for_landing();
#endif
#if AC_FENCE == ENABLED
plane.fence.auto_disable_fence_for_landing();
#endif
}
void ModeQLand::update()
{
plane.mode_qstabilize.update();
}
void ModeQLand::run()
{
plane.mode_qloiter.run();
}

24
ArduPlane/quadplane.cpp
View File

@ -1189,25 +1189,6 @@ void ModeQLoiter::init()
quadplane.last_loiter_ms = AP_HAL::millis();
}
void ModeQLand::init()
{
plane.mode_qloiter.init();
quadplane.throttle_wait = false;
quadplane.setup_target_position();
poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND);
poscontrol.pilot_correction_done = false;
quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
quadplane.landing_detect.lower_limit_start_ms = 0;
quadplane.landing_detect.land_start_ms = 0;
#if LANDING_GEAR_ENABLED == ENABLED
plane.g2.landing_gear.deploy_for_landing();
#endif
#if AC_FENCE == ENABLED
plane.fence.auto_disable_fence_for_landing();
#endif
}
// helper for is_flying()
bool QuadPlane::is_flying(void)
{
@ -2219,11 +2200,6 @@ void QuadPlane::control_run(void)
}
}
void ModeQLand::run()
{
plane.mode_qloiter.run();
}
/*
enter a quadplane mode
*/