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@ -42,17 +42,6 @@ private:
@@ -42,17 +42,6 @@ private:
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static const struct AP_Param::GroupInfo var_info[]; |
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// deepstall members
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enum deepstall_stage { |
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DEEPSTALL_STAGE_FLY_TO_LANDING, // fly to the deepstall landing point
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DEEPSTALL_STAGE_ESTIMATE_WIND, // loiter until we have a decent estimate of the wind for the target altitude
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DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT, // wait until the aircraft is aligned for the optimal breakout
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DEEPSTALL_STAGE_FLY_TO_ARC, // fly to the start of the arc
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DEEPSTALL_STAGE_ARC, // fly the arc
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DEEPSTALL_STAGE_APPROACH, // fly the approach in, and prepare to deepstall when close
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DEEPSTALL_STAGE_LAND, // the aircraft will stall torwards the ground while targeting a given point
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}; |
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AP_Float forward_speed; |
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AP_Float slope_a; |
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AP_Float slope_b; |
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@ -69,7 +58,7 @@ private:
@@ -69,7 +58,7 @@ private:
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AP_Float min_abort_alt; |
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AP_Float aileron_scalar; |
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int32_t loiter_sum_cd; // used for tracking the progress on loitering
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deepstall_stage stage; |
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DEEPSTALL_STAGE stage; |
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Location landing_point; |
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Location extended_approach; |
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Location breakout_location; |
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