From a4109c6cf27b7f5a831c25050c72f1f0492922ce Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 22 Feb 2024 19:18:14 +1100
Subject: [PATCH] Plane: compile in AC_PrecLand for scripting

---
 ArduPlane/ArduPlane.cpp  | 12 ++++++++++++
 ArduPlane/Parameters.cpp |  8 +++++++-
 ArduPlane/Parameters.h   |  4 ++++
 ArduPlane/Plane.h        |  9 +++++++++
 ArduPlane/system.cpp     |  4 ++++
 ArduPlane/wscript        |  2 ++
 6 files changed, 38 insertions(+), 1 deletion(-)

diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 53e265b4fa..98a1dda017 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -135,6 +135,9 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
 #if AP_LANDINGGEAR_ENABLED
     SCHED_TASK(landing_gear_update, 5, 50, 159),
 #endif
+#if AC_PRECLAND_ENABLED
+    SCHED_TASK(precland_update, 400, 50, 160),
+#endif
 };
 
 void Plane::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
@@ -947,4 +950,13 @@ bool Plane::flight_option_enabled(FlightOptions flight_option) const
     return g2.flight_options & flight_option;
 }
 
+#if AC_PRECLAND_ENABLED
+void Plane::precland_update(void)
+{
+    // alt will be unused if we pass false through as the second parameter:
+    return g2.precland.update(rangefinder_state.height_estimate*100,
+                              rangefinder_state.in_range && rangefinder_state.in_use);
+}
+#endif
+
 AP_HAL_MAIN_CALLBACKS(&plane);
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 53ad53307e..166b141c87 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1242,7 +1242,13 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Bitmask: 0:Roll,1:Pitch,2:Yaw
     // @User: Standard
     AP_GROUPINFO("AUTOTUNE_AXES", 34, ParametersG2, axis_bitmask, 7),
-    
+
+#if AC_PRECLAND_ENABLED
+    // @Group: PLND_
+    // @Path: ../libraries/AC_PrecLand/AC_PrecLand.cpp
+    AP_SUBGROUPINFO(precland, "PLND_", 35, ParametersG2, AC_PrecLand),
+#endif
+
     AP_GROUPEND
 };
 
diff --git a/ArduPlane/Parameters.h b/ArduPlane/Parameters.h
index dacc015496..ba89c45772 100644
--- a/ArduPlane/Parameters.h
+++ b/ArduPlane/Parameters.h
@@ -520,6 +520,10 @@ public:
     AP_LandingGear landing_gear;
 #endif
 
+#if AC_PRECLAND_ENABLED
+    AC_PrecLand precland;
+#endif
+
     // crow flaps weighting
     AP_Int8 crow_flap_weight_outer;
     AP_Int8 crow_flap_weight_inner;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 3d08a2bca9..189189e9dc 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -87,6 +87,11 @@
 #include "AP_ExternalControl_Plane.h"
 #endif
 
+#include <AC_PrecLand/AC_PrecLand_config.h>
+#if AC_PRECLAND_ENABLED
+ # include <AC_PrecLand/AC_PrecLand.h>
+#endif
+
 #include "GCS_Mavlink.h"
 #include "GCS_Plane.h"
 #include "quadplane.h"
@@ -251,6 +256,10 @@ private:
     AP_Rally rally;
 #endif
 
+#if AC_PRECLAND_ENABLED
+    void precland_update(void);
+#endif
+
     // returns a Location for a rally point or home; if
     // HAL_RALLY_ENABLED is false, just home.
     Location calc_best_rally_or_home_location(const Location &current_loc, float rtl_home_alt_amsl_cm) const;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index 593dfb1c16..17d57395d9 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -132,6 +132,10 @@ void Plane::init_ardupilot()
         optflow.init(-1);
     }
 #endif
+
+#if AC_PRECLAND_ENABLED
+    g2.precland.init(scheduler.get_loop_rate_hz());
+#endif
 }
 
 //********************************************************************************
diff --git a/ArduPlane/wscript b/ArduPlane/wscript
index 4dd670ccc3..32bbdb0a5a 100644
--- a/ArduPlane/wscript
+++ b/ArduPlane/wscript
@@ -29,6 +29,8 @@ def build(bld):
             'AP_OSD',
             'AC_AutoTune',
             'AP_Follow',
+            'AC_PrecLand',
+            'AP_IRLock',
         ],
     )