AP_Landing: move enum FlightStages to AP_Vehicle::FixedWing

libraries/AP_Landing/AP_Landing.cpp

@@ -146,7 +146,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
   update navigation for landing. Called when on landing approach or
   final flare
  */
-bool AP_Landing::verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
+bool AP_Landing::verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
         const int32_t auto_state_takeoff_altitude_rel_cm, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range, bool &throttle_suppressed)
 {
     switch (type) {
@@ -283,7 +283,7 @@ float AP_Landing::head_wind(void)
 /*
  * returns target airspeed in cm/s depending on flight stage
  */
-int32_t AP_Landing::get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage flight_stage)
+int32_t AP_Landing::get_target_airspeed_cm(const AP_Vehicle::FixedWing::FlightStage flight_stage)
 {
     int32_t target_airspeed_cm = aparm.airspeed_cruise_cm;
 
@@ -298,14 +298,14 @@ int32_t AP_Landing::get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage f
     const float land_airspeed = SpdHgt_Controller->get_land_airspeed();
 
     switch (flight_stage) {
-    case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
+    case AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH:
         if (land_airspeed >= 0) {
             target_airspeed_cm = land_airspeed * 100;
         }
         break;
 
-    case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
-    case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
+    case AP_Vehicle::FixedWing::FLIGHT_LAND_PREFLARE:
+    case AP_Vehicle::FixedWing::FLIGHT_LAND_FINAL:
         if (pre_flare && get_pre_flare_airspeed() > 0) {
             // if we just preflared then continue using the pre-flare airspeed during final flare
             target_airspeed_cm = get_pre_flare_airspeed() * 100;

libraries/AP_Landing/AP_Landing.h

@@ -65,7 +65,7 @@ public:
 //      TODO: TYPE_HELICAL,
     };
 
-    bool verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
+    bool verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
             const int32_t auto_state_takeoff_altitude_rel_cm, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range, bool &throttle_suppressed);
     void adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm);
     void setup_landing_glide_slope(const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm);
@@ -78,7 +78,7 @@ public:
     bool restart_landing_sequence(void);
     float wind_alignment(const float heading_deg);
     float head_wind(void);
-    int32_t get_target_airspeed_cm(const AP_SpdHgtControl::FlightStage flight_stage);
+    int32_t get_target_airspeed_cm(const AP_Vehicle::FixedWing::FlightStage flight_stage);
 
     // accessor functions for the params and states
     static const struct AP_Param::GroupInfo var_info[];
@@ -155,7 +155,7 @@ private:
     AP_Int8 type;
 
     // Land Type STANDARD GLIDE SLOPE
-    bool type_slope_verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
+    bool type_slope_verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
             const int32_t auto_state_takeoff_altitude_rel_cm, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range, bool &throttle_suppressed);
 
     void type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm);

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -26,7 +26,7 @@
   update navigation for landing. Called when on landing approach or
   final flare
  */
-bool AP_Landing::type_slope_verify_land(const AP_SpdHgtControl::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
+bool AP_Landing::type_slope_verify_land(const AP_Vehicle::FixedWing::FlightStage flight_stage, const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,
         const int32_t auto_state_takeoff_altitude_rel_cm, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range, bool &throttle_suppressed)
 {
     // we don't 'verify' landing in the sense that it never completes,
@@ -35,7 +35,7 @@ bool AP_Landing::type_slope_verify_land(const AP_SpdHgtControl::FlightStage flig
 
     // when aborting a landing, mimic the verify_takeoff with steering hold. Once
     // the altitude has been reached, restart the landing sequence
-    if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
+    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_ABORT) {
 
         throttle_suppressed = false;
 
@@ -74,8 +74,8 @@ bool AP_Landing::type_slope_verify_land(const AP_SpdHgtControl::FlightStage flig
     // 2) passed land point and don't have an accurate AGL
     // 3) probably crashed (ensures motor gets turned off)
 
-    bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
-                              flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
+    bool on_approach_stage = (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH ||
+                              flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND_PREFLARE);
     bool below_flare_alt = (height <= flare_alt);
     bool below_flare_sec = (flare_sec > 0 && height <= sink_rate * flare_sec);
     bool probably_crashed = (aparm.crash_detection_enable && fabsf(sink_rate) < 0.2f && !is_flying);