From 61b02cb41dfc8bc643021050d680f24bbed8daa8 Mon Sep 17 00:00:00 2001
From: Tom Pittenger <magicrub@gmail.com>
Date: Wed, 16 Nov 2016 17:05:37 -0800
Subject: [PATCH] AP_Landing: add new library for fixed wing landing
 abstraction

---
 ArduPlane/Plane.h                   |  3 +++
 ArduPlane/make.inc                  |  1 +
 ArduPlane/wscript                   |  1 +
 libraries/AP_Landing/AP_Landing.cpp | 28 +++++++++++++++++++++
 libraries/AP_Landing/AP_Landing.h   | 38 +++++++++++++++++++++++++++++
 5 files changed, 71 insertions(+)
 create mode 100644 libraries/AP_Landing/AP_Landing.cpp
 create mode 100644 libraries/AP_Landing/AP_Landing.h

diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 8983badc0c..e7f2ccc8b3 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -91,6 +91,7 @@
 #include <AP_ADSB/AP_ADSB.h>
 #include <AP_Button/AP_Button.h>
 #include <AP_ICEngine/AP_ICEngine.h>
+#include <AP_Landing/AP_Landing.h>
 
 #include "GCS_Mavlink.h"
 #include "quadplane.h"
@@ -649,6 +650,8 @@ private:
     AP_Terrain terrain {ahrs, mission, rally};
 #endif
 
+    AP_Landing landing {mission};
+
     AP_ADSB adsb {ahrs};
 
     // avoidance of adsb enabled vehicles (normally manned vheicles)
diff --git a/ArduPlane/make.inc b/ArduPlane/make.inc
index fc3d34fd19..60b3c667ed 100644
--- a/ArduPlane/make.inc
+++ b/ArduPlane/make.inc
@@ -60,3 +60,4 @@ LIBRARIES += AC_Avoidance
 LIBRARIES += AP_Proximity
 LIBRARIES += AP_Tuning
 LIBRARIES += AP_Stats
+LIBRARIES += AP_Landing
diff --git a/ArduPlane/wscript b/ArduPlane/wscript
index 33149cbcd7..f1991a0227 100644
--- a/ArduPlane/wscript
+++ b/ArduPlane/wscript
@@ -31,6 +31,7 @@ def build(bld):
             'AC_Avoidance',
             'AP_Proximity',
             'AP_Stats',
+            'AP_Landing',
         ],
     )
 
diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
new file mode 100644
index 0000000000..22ed1fe213
--- /dev/null
+++ b/libraries/AP_Landing/AP_Landing.cpp
@@ -0,0 +1,28 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ *   AP_Landing.cpp - Landing logic handler for ArduPlane
+ */
+
+#include "AP_Landing.h"
+
+// table of user settable parameters
+const AP_Param::GroupInfo AP_Landing::var_info[] = {
+
+    AP_GROUPEND
+};
+
+
diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
new file mode 100644
index 0000000000..29d1c32cd4
--- /dev/null
+++ b/libraries/AP_Landing/AP_Landing.h
@@ -0,0 +1,38 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <AP_Param/AP_Param.h>
+#include <AP_Mission/AP_Mission.h>
+
+/// @class  AP_Landing
+/// @brief  Class managing ArduPlane landing methods
+class AP_Landing
+{
+public:
+
+    // constructor
+    AP_Landing(AP_Mission &_mission) :
+            mission(_mission) {
+        AP_Param::setup_object_defaults(this, var_info);
+    }
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+private:
+
+    AP_Mission &mission;
+};