From 84e11fd899096bd40ae399a57670ba7f8fdcce8e Mon Sep 17 00:00:00 2001 From: Tom Pittenger Date: Tue, 13 Dec 2016 18:40:27 -0800 Subject: [PATCH] Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it --- ArduPlane/ArduPlane.cpp | 1 - libraries/AP_SpdHgtControl/AP_SpdHgtControl.h | 1 - libraries/AP_TECS/AP_TECS.cpp | 3 +-- libraries/AP_TECS/AP_TECS.h | 1 - 4 files changed, 1 insertion(+), 5 deletions(-) diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 24d0856aab..4aed45e635 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -952,7 +952,6 @@ void Plane::update_alt() SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(), target_airspeed_cm, flight_stage, - landing.in_progress, distance_beyond_land_wp, get_takeoff_pitch_min_cd(), throttle_nudge, diff --git a/libraries/AP_SpdHgtControl/AP_SpdHgtControl.h b/libraries/AP_SpdHgtControl/AP_SpdHgtControl.h index aa9840cee9..28a68953b1 100644 --- a/libraries/AP_SpdHgtControl/AP_SpdHgtControl.h +++ b/libraries/AP_SpdHgtControl/AP_SpdHgtControl.h @@ -28,7 +28,6 @@ public: virtual void update_pitch_throttle( int32_t hgt_dem_cm, int32_t EAS_dem_cm, enum AP_Vehicle::FixedWing::FlightStage flight_stage, - bool is_doing_auto_land, float distance_beyond_land_wp, int32_t ptchMinCO_cd, int16_t throttle_nudge, diff --git a/libraries/AP_TECS/AP_TECS.cpp b/libraries/AP_TECS/AP_TECS.cpp index b9d8585674..29b089e7f9 100644 --- a/libraries/AP_TECS/AP_TECS.cpp +++ b/libraries/AP_TECS/AP_TECS.cpp @@ -925,7 +925,6 @@ void AP_TECS::_update_STE_rate_lim(void) void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm, int32_t EAS_dem_cm, enum AP_Vehicle::FixedWing::FlightStage flight_stage, - bool is_doing_auto_land, float distance_beyond_land_wp, int32_t ptchMinCO_cd, int16_t throttle_nudge, @@ -937,7 +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 = is_doing_auto_land; + _flags.is_doing_auto_land = _landing.in_progress; _distance_beyond_land_wp = distance_beyond_land_wp; _flight_stage = flight_stage; diff --git a/libraries/AP_TECS/AP_TECS.h b/libraries/AP_TECS/AP_TECS.h index 90d187abc4..25a7f8e7c3 100644 --- a/libraries/AP_TECS/AP_TECS.h +++ b/libraries/AP_TECS/AP_TECS.h @@ -45,7 +45,6 @@ public: void update_pitch_throttle(int32_t hgt_dem_cm, int32_t EAS_dem_cm, enum AP_Vehicle::FixedWing::FlightStage flight_stage, - bool is_doing_auto_land, float distance_beyond_land_wp, int32_t ptchMinCO_cd, int16_t throttle_nudge,