From 921116e7a3be3a45d02b3c834bb20aa221e9948f Mon Sep 17 00:00:00 2001
From: Iampete1 <iampete@hotmail.co.uk>
Date: Sat, 14 Aug 2021 19:55:03 +0100
Subject: [PATCH] Plane: QLand: move functions to ModeQLand

---
 ArduPlane/mode_qland.cpp | 22 ++++++++++++++++++++++
 ArduPlane/quadplane.cpp  | 24 ------------------------
 2 files changed, 22 insertions(+), 24 deletions(-)

diff --git a/ArduPlane/mode_qland.cpp b/ArduPlane/mode_qland.cpp
index 0d2a272d7a..3a2d2421d0 100644
--- a/ArduPlane/mode_qland.cpp
+++ b/ArduPlane/mode_qland.cpp
@@ -6,8 +6,30 @@ bool ModeQLand::_enter()
     return plane.mode_qstabilize._enter();
 }
 
+void ModeQLand::init()
+{
+    plane.mode_qloiter.init();
+    quadplane.throttle_wait = false;
+    quadplane.setup_target_position();
+    poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND);
+    poscontrol.pilot_correction_done = false;
+    quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
+    quadplane.landing_detect.lower_limit_start_ms = 0;
+    quadplane.landing_detect.land_start_ms = 0;
+#if LANDING_GEAR_ENABLED == ENABLED
+    plane.g2.landing_gear.deploy_for_landing();
+#endif
+#if AC_FENCE == ENABLED
+    plane.fence.auto_disable_fence_for_landing();
+#endif
+}
+
 void ModeQLand::update()
 {
     plane.mode_qstabilize.update();
 }
 
+void ModeQLand::run()
+{
+    plane.mode_qloiter.run();
+}
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index eb9a8f7e62..263fc90937 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -1189,25 +1189,6 @@ void ModeQLoiter::init()
     quadplane.last_loiter_ms = AP_HAL::millis();
 }
 
-void ModeQLand::init()
-{
-    plane.mode_qloiter.init();
-    quadplane.throttle_wait = false;
-    quadplane.setup_target_position();
-    poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND);
-    poscontrol.pilot_correction_done = false;
-    quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing);
-    quadplane.landing_detect.lower_limit_start_ms = 0;
-    quadplane.landing_detect.land_start_ms = 0;
-#if LANDING_GEAR_ENABLED == ENABLED
-    plane.g2.landing_gear.deploy_for_landing();
-#endif
-#if AC_FENCE == ENABLED
-    plane.fence.auto_disable_fence_for_landing();
-#endif
-}
-
-
 // helper for is_flying()
 bool QuadPlane::is_flying(void)
 {
@@ -2219,11 +2200,6 @@ void QuadPlane::control_run(void)
     }
 }
 
-void ModeQLand::run()
-{
-    plane.mode_qloiter.run();
-}
-
 /*
   enter a quadplane mode
  */