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35 lines
825 B
35 lines
825 B
#include "mode.h" |
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#include "Plane.h" |
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#if HAL_QUADPLANE_ENABLED |
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bool ModeQLand::_enter() |
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{ |
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plane.mode_qloiter._enter(); |
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quadplane.throttle_wait = false; |
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quadplane.setup_target_position(); |
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poscontrol.set_state(QuadPlane::QPOS_LAND_DESCEND); |
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poscontrol.pilot_correction_done = false; |
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quadplane.last_land_final_agl = plane.relative_ground_altitude(plane.g.rangefinder_landing); |
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quadplane.landing_detect.lower_limit_start_ms = 0; |
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quadplane.landing_detect.land_start_ms = 0; |
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#if LANDING_GEAR_ENABLED == ENABLED |
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plane.g2.landing_gear.deploy_for_landing(); |
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#endif |
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#if AC_FENCE == ENABLED |
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plane.fence.auto_disable_fence_for_landing(); |
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#endif |
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return true; |
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} |
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void ModeQLand::update() |
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{ |
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plane.mode_qstabilize.update(); |
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} |
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void ModeQLand::run() |
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{ |
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plane.mode_qloiter.run(); |
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} |
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#endif
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