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Plane: abstract out init_start_nav_cnd work to landing lib

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This reverts commit 1380a35f70.
This commit is contained in:
Tom Pittenger 2016-12-06 03:39:32 -08:00
parent 669dc01b67
commit b299b9c0bb
1 changed files with 1 additions and 8 deletions
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9
ArduPlane/commands_logic.cpp
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@ -16,23 +16,16 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle
landing.complete = false;
landing.pre_flare = false;
landing.init_start_nav_cmd();
auto_state.sink_rate = 0;
// set takeoff_complete to true so we don't add extra elevator
// except in a takeoff
auto_state.takeoff_complete = true;
// if a go around had been commanded, clear it now.
landing.commanded_go_around = false;
// start non-idle
auto_state.idle_mode = false;
// once landed, post some landing statistics to the GCS
landing.post_stats = false;
nav_controller->set_data_is_stale();
// reset loiter start time. New command is a new loiter