AP_Landing: refactor bool variables into flag stucts

libraries/AP_Landing/AP_Landing.cpp

@@ -143,7 +143,7 @@ const AP_Param::GroupInfo AP_Landing::var_info[] = {
 
 void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
 {
-    commanded_go_around = false;
+    flags.commanded_go_around = false;
 
     switch (type) {
     case TYPE_STANDARD_GLIDE_SLOPE:
@@ -214,7 +214,7 @@ void AP_Landing::adjust_landing_slope_for_rangefinder_bump(AP_Vehicle::FixedWing
 // return true while the aircraft should be in a flaring state
 bool AP_Landing::is_flaring(void) const
 {
-    if (!in_progress) {
+    if (!flags.in_progress) {
         return false;
     }
 
@@ -229,7 +229,7 @@ bool AP_Landing::is_flaring(void) const
 // return true while the aircraft is performing a landing approach
 bool AP_Landing::is_on_approach(void) const
 {
-    if (!in_progress) {
+    if (!flags.in_progress) {
         return false;
     }
 
@@ -244,7 +244,7 @@ bool AP_Landing::is_on_approach(void) const
 // return true when at the last stages of a land when an impact with the ground is expected soon
 bool AP_Landing::is_expecting_impact(void) const
 {
-    if (!in_progress) {
+    if (!flags.in_progress) {
         return false;
     }
 
@@ -371,7 +371,7 @@ float AP_Landing::head_wind(void)
  */
 int32_t AP_Landing::get_target_airspeed_cm(void)
 {
-    if (!in_progress) {
+    if (!flags.in_progress) {
         // not landing, use regular cruise airspeed
         return aparm.airspeed_cruise_cm;
     }
@@ -400,8 +400,8 @@ bool AP_Landing::request_go_around(void)
 
 void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
 {
-    in_progress = _in_landing_stage;
-    commanded_go_around = false;
+    flags.in_progress = _in_landing_stage;
+    flags.commanded_go_around = false;
 }
 
 /*

libraries/AP_Landing/AP_Landing.h

@@ -96,7 +96,7 @@ public:
     int8_t get_abort_throttle_enable(void) const { return abort_throttle_enable; }
     int8_t get_flap_percent(void) const { return flap_percent; }
     int8_t get_throttle_slewrate(void) const { return throttle_slewrate; }
-    bool is_commanded_go_around(void) const { return commanded_go_around; }
+    bool is_commanded_go_around(void) const { return flags.commanded_go_around; }
     bool is_complete(void) const;
     void set_initial_slope(void) { initial_slope = slope; }
     bool is_expecting_impact(void) const;
@@ -106,13 +106,13 @@ public:
 
 private:
 
-    // once landed, post some landing statistics to the GCS
-    bool post_stats;
-
-    bool has_aborted_due_to_slope_recalc;
-
+    struct {
     // denotes if a go-around has been commanded for landing
-    bool commanded_go_around;
+        bool commanded_go_around:1;
+
+        // are we in auto and flight_stage is LAND
+        bool in_progress:1;
+    } flags;
 
     // same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
     float initial_slope;
@@ -120,8 +120,6 @@ 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;
@@ -153,13 +151,21 @@ private:
     AP_Int8 type;
 
     // Land Type STANDARD GLIDE SLOPE
-    enum slope_stage {
+
+    enum  {
         SLOPE_STAGE_NORMAL,
         SLOPE_STAGE_APPROACH,
         SLOPE_STAGE_PREFLARE,
         SLOPE_STAGE_FINAL
-    };
-    slope_stage type_slope_stage;
+    } type_slope_stage;
+
+    struct {
+        // once landed, post some landing statistics to the GCS
+        bool post_stats:1;
+
+        bool has_aborted_due_to_slope_recalc:1;
+    } type_slope_flags;
+
     void type_slope_do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude);
     void type_slope_verify_abort_landing(const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed);
     bool type_slope_verify_land(const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc,

libraries/AP_Landing/AP_Landing_Slope.cpp

@@ -27,7 +27,7 @@ void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, cons
     slope = 0;
 
     // once landed, post some landing statistics to the GCS
-    post_stats = false;
+    type_slope_flags.post_stats = false;
 
     type_slope_stage = SLOPE_STAGE_NORMAL;
     GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude);
@@ -94,7 +94,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
         probably_crashed) {
 
         if (type_slope_stage != SLOPE_STAGE_FINAL) {
-            post_stats = true;
+            type_slope_flags.post_stats = true;
             if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) {
                 GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)ahrs.get_gps().ground_speed());
             } else {
@@ -137,8 +137,8 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
 
     // once landed and stationary, post some statistics
     // this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
-    if (post_stats && !is_armed) {
-        post_stats = false;
+    if (type_slope_flags.post_stats && !is_armed) {
+        type_slope_flags.post_stats = false;
         GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
     }
 
@@ -183,7 +183,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
         // correction positive means we're too low so we should continue on with
         // the newly computed shallower slope instead of pitching/throttling up
 
-    } else if (slope_recalc_steep_threshold_to_abort > 0 && !has_aborted_due_to_slope_recalc) {
+    } else if (slope_recalc_steep_threshold_to_abort > 0 && !type_slope_flags.has_aborted_due_to_slope_recalc) {
         // correction negative means we're too high and need to point down (and speed up) to re-align
         // to land on target. A large negative correction means we would have to dive down a lot and will
         // generating way too much speed that we can not bleed off in time. It is better to remember
@@ -199,8 +199,8 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
             GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Landing slope too steep, aborting (%.0fm %.1fdeg)",
                                              (double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg));
             alt_offset = rangefinder_state.correction;
-            commanded_go_around = true;
-            has_aborted_due_to_slope_recalc = true; // only allow this once.
+            flags.commanded_go_around = true;
+            type_slope_flags.has_aborted_due_to_slope_recalc = true; // only allow this once.
         }
     }
 }
@@ -208,7 +208,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
 
 bool AP_Landing::type_slope_request_go_around(void)
 {
-    commanded_go_around = true;
+    flags.commanded_go_around = true;
     return true;
 }