You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
25 lines
520 B
25 lines
520 B
// |
|
// functions to support precision landing |
|
// |
|
|
|
#include "Copter.h" |
|
|
|
#if PRECISION_LANDING == ENABLED |
|
|
|
void Copter::init_precland() |
|
{ |
|
copter.precland.init(400); |
|
} |
|
|
|
void Copter::update_precland() |
|
{ |
|
int32_t height_above_ground_cm = current_loc.alt; |
|
|
|
// use range finder altitude if it is valid, otherwise use home alt |
|
if (rangefinder_alt_ok()) { |
|
height_above_ground_cm = rangefinder_state.alt_cm_glitch_protected; |
|
} |
|
|
|
precland.update(height_above_ground_cm, rangefinder_alt_ok()); |
|
} |
|
#endif
|
|
|