Plane: QHover: move functions to ModeQHover

ArduPlane/mode_qhover.cpp

@@ -6,9 +6,33 @@ bool ModeQHover::_enter()
     return plane.mode_qstabilize._enter();
 }
 
+// init quadplane hover mode 
+void ModeQHover::init()
+{
+    // set vertical speed and acceleration limits
+    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
+    quadplane.set_climb_rate_cms(0, false);
+
+    quadplane.init_throttle_wait();
+}
+
 void ModeQHover::update()
 {
     plane.mode_qstabilize.update();
 }
 
-
+/*
+  control QHOVER mode
+ */
+void ModeQHover::run()
+{
+    if (quadplane.throttle_wait) {
+        quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
+        attitude_control->set_throttle_out(0, true, 0);
+        quadplane.relax_attitude_control();
+        pos_control->relax_z_controller(0);
+    } else {
+        quadplane.hold_hover(quadplane.get_pilot_desired_climb_rate_cms());
+    }
+}

ArduPlane/quadplane.cpp

@@ -1053,17 +1053,6 @@ void QuadPlane::check_attitude_relax(void)
     last_att_control_ms = now;
 }
 
-// init quadplane hover mode 
-void ModeQHover::init()
-{
-    // set vertical speed and acceleration limits
-    pos_control->set_max_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-    pos_control->set_correction_speed_accel_z(-quadplane.get_pilot_velocity_z_max_dn(), quadplane.pilot_velocity_z_max_up, quadplane.pilot_accel_z);
-    quadplane.set_climb_rate_cms(0, false);
-
-    quadplane.init_throttle_wait();
-}
-
 /*
   check for an EKF yaw reset
  */
@@ -1181,21 +1170,6 @@ float QuadPlane::get_pilot_land_throttle(void) const
     return constrain_float(throttle_in, 0, 1);
 }
 
-/*
-  control QHOVER mode
- */
-void ModeQHover::run()
-{
-    if (quadplane.throttle_wait) {
-        quadplane.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
-        attitude_control->set_throttle_out(0, true, 0);
-        quadplane.relax_attitude_control();
-        pos_control->relax_z_controller(0);
-    } else {
-        quadplane.hold_hover(quadplane.get_pilot_desired_climb_rate_cms());
-    }
-}
-
 void ModeQLoiter::init()
 {
     // initialise loiter