Plane: check stage==LAND instead of landing.in_progress

ArduPlane/ArduPlane.cpp

@@ -865,15 +865,12 @@ void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
         return;
     }
 
-    if (fs == AP_Vehicle::FixedWing::FLIGHT_LAND) {
-        landing.in_progress = true;
-    } else {
-        landing.in_progress = false;
+    landing.set_in_progress(fs == AP_Vehicle::FixedWing::FLIGHT_LAND);
+
         if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
             gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
                               auto_state.takeoff_altitude_rel_cm/100);
         }
-    }
 
     flight_stage = fs;
 
@@ -910,7 +907,7 @@ void Plane::update_alt()
     if (auto_throttle_mode && !throttle_suppressed) {        
 
         float distance_beyond_land_wp = 0;
-        if (landing.in_progress && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
+        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
             distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
         }
 
@@ -1053,7 +1050,7 @@ float Plane::tecs_hgt_afe(void)
       coming.
     */
     float hgt_afe;
-    if (landing.in_progress) {
+    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
         hgt_afe = height_above_target();
         hgt_afe -= rangefinder_correction();
     } else {

ArduPlane/GCS_Mavlink.cpp

@@ -1344,7 +1344,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_GO_AROUND:
             result = MAV_RESULT_FAILED;
 
-            if (plane.landing.in_progress) {
+            if (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
                 // Initiate an aborted landing. This will trigger a pitch-up and
                 // climb-out to a safe altitude holding heading then one of the
                 // following actions will occur, check for in this order:

ArduPlane/altitude.cpp

@@ -379,7 +379,7 @@ void Plane::set_offset_altitude_location(const Location &loc)
     }
 #endif
 
-    if (!landing.in_progress) {
+    if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
         // if we are within GLIDE_SLOPE_MIN meters of the target altitude
         // then reset the offset to not use a glide slope. This allows for
         // more accurate flight of missions where the aircraft may lose or
@@ -470,7 +470,7 @@ float Plane::mission_alt_offset(void)
 {
     float ret = g.alt_offset;
     if (control_mode == AUTO &&
-            (landing.in_progress || auto_state.wp_is_land_approach)) {
+            (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND || auto_state.wp_is_land_approach)) {
         // when landing after an aborted landing due to too high glide
         // slope we use an offset from the last landing attempt
         ret += landing.alt_offset;
@@ -572,9 +572,7 @@ float Plane::rangefinder_correction(void)
     }
 
     // for now we only support the rangefinder for landing 
-    bool using_rangefinder = (g.rangefinder_landing &&
-                              control_mode == AUTO && 
-                              landing.in_progress);
+    bool using_rangefinder = (g.rangefinder_landing && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND);
     if (!using_rangefinder) {
         return 0;
     }
@@ -615,7 +613,7 @@ void Plane::rangefinder_height_update(void)
         } else {
             rangefinder_state.in_range = true;
             if (!rangefinder_state.in_use &&
-                (landing.in_progress ||
+                (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND ||
                  control_mode == QLAND ||
                  control_mode == QRTL ||
                  (control_mode == AUTO && plane.mission.get_current_nav_cmd().id == MAV_CMD_NAV_VTOL_LAND)) &&

ArduPlane/avoidance_adsb.cpp

@@ -25,7 +25,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob
     // take no action in some flight modes
     if (plane.control_mode == MANUAL ||
         (plane.control_mode == AUTO && !plane.auto_state.takeoff_complete) ||
-        (plane.control_mode == AUTO && plane.landing.in_progress) || // TODO: consider allowing action during approach
+        (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) || // TODO: consider allowing action during approach
         plane.control_mode == AUTOTUNE ||
         plane.control_mode == QLAND) {
         actual_action = MAV_COLLISION_ACTION_NONE;

ArduPlane/events.cpp

@@ -141,7 +141,7 @@ void Plane::low_battery_event(void)
     }
     gcs_send_text_fmt(MAV_SEVERITY_WARNING, "Low battery %.2fV used %.0f mAh",
                       (double)battery.voltage(), (double)battery.current_total_mah());
-    if (!landing.in_progress) {
+    if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
     	set_mode(RTL, MODE_REASON_BATTERY_FAILSAFE);
     	aparm.throttle_cruise.load();
     }

ArduPlane/navigation.cpp

@@ -93,7 +93,7 @@ void Plane::calc_airspeed_errors()
                               channel_throttle->get_control_in()) +
                              ((int32_t)aparm.airspeed_min * 100);
 
-    } else if (control_mode == AUTO && landing.in_progress) {
+    } else if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
         // Landing airspeed target
         target_airspeed_cm = landing.get_target_airspeed_cm();
 

ArduPlane/sensors.cpp

@@ -33,7 +33,7 @@ void Plane::read_rangefinder(void)
 #endif
     {
         // use the best available alt estimate via baro above home
-        if (landing.in_progress) {
+        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
             // ensure the rangefinder is powered-on when land alt is higher than home altitude.
             // This is done using the target alt which we know is below us and we are sinking to it
             height = height_above_target();

ArduPlane/servos.cpp

@@ -28,7 +28,7 @@ void Plane::throttle_slew_limit(void)
     if (control_mode==AUTO) {
         if (auto_state.takeoff_complete == false && g.takeoff_throttle_slewrate != 0) {
             slewrate = g.takeoff_throttle_slewrate;
-        } else if (landing.get_throttle_slewrate() != 0 && landing.in_progress) {
+        } else if (landing.get_throttle_slewrate() != 0 && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
             slewrate = landing.get_throttle_slewrate();
         }
     }
@@ -495,7 +495,7 @@ void Plane::set_servos_flaps(void)
             auto_flap_percent = g.flap_1_percent;
         } //else flaps stay at default zero deflection
 
-        if (landing.in_progress && landing.get_flap_percent() != 0) {
+        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && landing.get_flap_percent() != 0) {
             auto_flap_percent = landing.get_flap_percent();
         }
 

ArduPlane/system.cpp

@@ -561,7 +561,7 @@ void Plane::check_long_failsafe()
     uint32_t tnow = millis();
     // only act on changes
     // -------------------
-    if(failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && !landing.in_progress) {
+    if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
         if (failsafe.state == FAILSAFE_SHORT &&
                    (tnow - failsafe.ch3_timer_ms) > g.long_fs_timeout*1000) {
             failsafe_long_on_event(FAILSAFE_LONG, MODE_REASON_RADIO_FAILSAFE);
@@ -594,7 +594,7 @@ void Plane::check_short_failsafe()
 {
     // only act on changes
     // -------------------
-    if(failsafe.state == FAILSAFE_NONE && !landing.in_progress) {
+    if(failsafe.state == FAILSAFE_NONE && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
         // The condition is checked and the flag ch3_failsafe is set in radio.cpp
         if(failsafe.ch3_failsafe) {
             failsafe_short_on_event(FAILSAFE_SHORT, MODE_REASON_RADIO_FAILSAFE);

libraries/AP_Landing/AP_Landing.h

@@ -19,7 +19,6 @@
 #include <AP_Mission/AP_Mission.h>
 #include <AP_Common/AP_Common.h>
 #include <AP_SpdHgtControl/AP_SpdHgtControl.h>
-#include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_Navigation/AP_Navigation.h>
 
 /// @class  AP_Landing
@@ -79,7 +78,7 @@ public:
     bool request_go_around(void);
     bool is_flaring(void) const;
     bool is_on_approach(void) const;
-
+    void set_in_progress(const bool _in_progress) { in_progress = _in_progress; }
 
     // helper functions
     void reset(void);
@@ -106,9 +105,6 @@ public:
     // Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
     bool complete;
 
-    // are we in auto and flight mode is approach || pre-flare || final (flare)
-    bool in_progress;
-
     // landing altitude offset (meters)
     float alt_offset;
 
@@ -128,6 +124,9 @@ private:
     // calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc)
     float slope;
 
+    // are we in auto and flight_stage is LAND
+    bool in_progress;
+
     AP_Mission &mission;
     AP_AHRS &ahrs;
     AP_SpdHgtControl *SpdHgt_Controller;

libraries/AP_TECS/AP_TECS.cpp

@@ -936,7 +936,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
     _DT = (now - _update_pitch_throttle_last_usec) * 1.0e-6f;
     _update_pitch_throttle_last_usec = now;
 
-    _flags.is_doing_auto_land = _landing.in_progress;
+    _flags.is_doing_auto_land = (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND);
     _distance_beyond_land_wp = distance_beyond_land_wp;
     _flight_stage = flight_stage;