|
|
|
@ -943,21 +943,7 @@ void Plane::update_flight_stage(void)
@@ -943,21 +943,7 @@ void Plane::update_flight_stage(void)
|
|
|
|
|
} else { |
|
|
|
|
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND); |
|
|
|
|
} |
|
|
|
|
/*
|
|
|
|
|
// FIXME: lift this into AP_Landing_Slope
|
|
|
|
|
} else if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH) { |
|
|
|
|
bool heading_lined_up = abs(nav_controller->bearing_error_cd()) < 1000 && !nav_controller->data_is_stale(); |
|
|
|
|
const bool on_flight_line = fabsf(nav_controller->crosstrack_error()) < 5.0f && !nav_controller->data_is_stale(); |
|
|
|
|
bool below_prev_WP = current_loc.alt < prev_WP_loc.alt; |
|
|
|
|
if ((mission.get_prev_nav_cmd_id() == MAV_CMD_NAV_LOITER_TO_ALT) || |
|
|
|
|
(auto_state.wp_proportion >= 0 && heading_lined_up && on_flight_line) || |
|
|
|
|
(auto_state.wp_proportion > 0.15f && heading_lined_up && below_prev_WP) || |
|
|
|
|
(auto_state.wp_proportion > 0.5f)) { |
|
|
|
|
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND_APPROACH); |
|
|
|
|
} else { |
|
|
|
|
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL); |
|
|
|
|
} |
|
|
|
|
}*/ |
|
|
|
|
|
|
|
|
|
} else if (quadplane.in_assisted_flight()) { |
|
|
|
|
set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL); |
|
|
|
|
} else { |
|
|
|
|