Copter: Disable Prec Land State Machine when Prec Land disabled

ArduCopter/mode.cpp

@@ -699,6 +699,24 @@ void Mode::land_run_horizontal_control()
     }
 }
 
+// Do normal landing or precision landing if enabled. pause_descent is true if vehicle should not descend
+void Mode::execute_landing(bool pause_descent)
+{
+#if PRECISION_LANDING == ENABLED
+    if (pause_descent || !copter.precland.enabled()) {
+        // we don't want to start descending immediately or prec land is disabled
+        // in both cases just run simple land controllers
+        run_land_controllers(pause_descent);
+    } else {
+        // prec land is enabled and we have not paused descent
+        // the state machine takes care of the entire prec landing procedure
+        run_precland();
+    }
+#else
+    run_land_controllers(pause_descent);
+#endif
+}
+
 #if PRECISION_LANDING == ENABLED
 // Go towards a position commanded by prec land state machine in order to retry landing
 // The passed in location is expected to be NED and in m

ArduCopter/mode.h

@@ -119,6 +119,8 @@ protected:
         land_run_horizontal_control();
         land_run_vertical_control(pause_descent);
     }
+    // Do normal landing or precision landing if enabled. pause_descent is true if vehicle should not descend
+    void execute_landing(bool pause_descent = false);
 
     // return expected input throttle setting to hover:
     virtual float throttle_hover() const;

ArduCopter/mode_auto.cpp

@@ -889,12 +889,8 @@ void ModeAuto::land_run()
     // set motors to full range
     motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
-#if PRECISION_LANDING == ENABLED
-        // the state machine takes care of the entire landing procedure
-        run_precland();
-#else
-        run_land_controllers();
-#endif
+    // run normal landing or precision landing (if enabled)
+    execute_landing();
 }
 
 // auto_rtl_run - rtl in AUTO flight mode

ArduCopter/mode_land.cpp

@@ -83,17 +83,9 @@ void ModeLand::gps_run()
         if (land_pause && millis()-land_start_time >= LAND_WITH_DELAY_MS) {
             land_pause = false;
         }
-#if PRECISION_LANDING == ENABLED
-        // the state machine takes care of the entire landing procedure except for land_pause.
-        if (land_pause) {
-            // we don't want to start descending immediately
-            run_land_controllers(true);
-        } else {
-            run_precland();
-        }
-#else
-        run_land_controllers(land_pause);
-#endif
+
+        // run normal landing or precision landing (if enabled)
+        execute_landing(land_pause);
     }
 }
 

ArduCopter/mode_rtl.cpp

@@ -413,12 +413,8 @@ void ModeRTL::land_run(bool disarm_on_land)
     // set motors to full range
     motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
 
-#if PRECISION_LANDING == ENABLED
-        // the state machine takes care of the entire landing procedure
-        run_precland();
-#else
-        run_land_controllers();
-#endif
+    // run normal landing or precision landing (if enabled)
+    execute_landing();
 }
 
 void ModeRTL::build_path()