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Plane: Move auto_state variables to AP_landing members

master
Tom Pittenger 8 years ago committed by Tom Pittenger
parent
61b02cb41d
commit
896b931a7c
11 changed files with 71 additions and 71 deletions
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  1. 34
      ArduPlane/ArduPlane.cpp
  2. 25
      ArduPlane/Plane.h
  3. 6
      ArduPlane/altitude.cpp
  4. 2
      ArduPlane/avoidance_adsb.cpp
  5. 8
      ArduPlane/commands_logic.cpp
  6. 2
      ArduPlane/is_flying.cpp
  7. 32
      ArduPlane/landing.cpp
  8. 2
      ArduPlane/navigation.cpp
  9. 2
      ArduPlane/servos.cpp
  10. 4
      ArduPlane/system.cpp
  11. 25
      libraries/AP_Landing/AP_Landing.h

34
ArduPlane/ArduPlane.cpp
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@ -355,7 +355,7 @@ void Plane::one_second_loop()
update_home(); update_home();
// reset the landing altitude correction // reset the landing altitude correction
auto_state.land_alt_offset = 0; landing.alt_offset = 0;
} }
// update error mask of sensors and subsystems. The mask uses the // update error mask of sensors and subsystems. The mask uses the
@ -544,14 +544,14 @@ void Plane::handle_auto_mode(void)
calc_nav_roll(); calc_nav_roll();
calc_nav_pitch(); calc_nav_pitch();
if (auto_state.land_complete) { if (landing.complete) {
// during final approach constrain roll to the range // during final approach constrain roll to the range
// allowed for level flight // allowed for level flight
nav_roll_cd = constrain_int32(nav_roll_cd, -g.level_roll_limit*100UL, g.level_roll_limit*100UL); nav_roll_cd = constrain_int32(nav_roll_cd, -g.level_roll_limit*100UL, g.level_roll_limit*100UL);
} }
calc_throttle(); calc_throttle();
if (auto_state.land_complete) { if (landing.complete) {
// we are in the final stage of a landing - force // we are in the final stage of a landing - force
// zero throttle // zero throttle
channel_throttle->set_servo_out(0); channel_throttle->set_servo_out(0);
@ -562,8 +562,8 @@ void Plane::handle_auto_mode(void)
if (nav_cmd_id != MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT) { if (nav_cmd_id != MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT) {
steer_state.hold_course_cd = -1; steer_state.hold_course_cd = -1;
} }
auto_state.land_complete = false; landing.complete = false;
auto_state.land_pre_flare = false; landing.pre_flare = false;
calc_nav_roll(); calc_nav_roll();
calc_nav_pitch(); calc_nav_pitch();
calc_throttle(); calc_throttle();
@ -798,7 +798,7 @@ void Plane::update_navigation()
set_mode(QRTL, MODE_REASON_UNKNOWN); set_mode(QRTL, MODE_REASON_UNKNOWN);
break; break;
} else if (g.rtl_autoland == 1 && } else if (g.rtl_autoland == 1 &&
!auto_state.checked_for_autoland && !landing.checked_for_autoland &&
reached_loiter_target() && reached_loiter_target() &&
labs(altitude_error_cm) < 1000) { labs(altitude_error_cm) < 1000) {
// we've reached the RTL point, see if we have a landing sequence // we've reached the RTL point, see if we have a landing sequence
@ -806,16 +806,16 @@ void Plane::update_navigation()
// prevent running the expensive jump_to_landing_sequence // prevent running the expensive jump_to_landing_sequence
// on every loop // on every loop
auto_state.checked_for_autoland = true; landing.checked_for_autoland = true;
} }
else if (g.rtl_autoland == 2 && else if (g.rtl_autoland == 2 &&
!auto_state.checked_for_autoland) { !landing.checked_for_autoland) {
// Go directly to the landing sequence // Go directly to the landing sequence
jump_to_landing_sequence(); jump_to_landing_sequence();
// prevent running the expensive jump_to_landing_sequence // prevent running the expensive jump_to_landing_sequence
// on every loop // on every loop
auto_state.checked_for_autoland = true; landing.checked_for_autoland = true;
} }
radius = abs(g.rtl_radius); radius = abs(g.rtl_radius);
if (radius > 0) { if (radius > 0) {
@ -864,7 +864,7 @@ void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
switch (fs) { switch (fs) {
case AP_SpdHgtControl::FLIGHT_LAND_APPROACH: case AP_SpdHgtControl::FLIGHT_LAND_APPROACH:
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude()); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude());
auto_state.land_in_progress = true; landing.in_progress = true;
#if GEOFENCE_ENABLED == ENABLED #if GEOFENCE_ENABLED == ENABLED
if (g.fence_autoenable == 1) { if (g.fence_autoenable == 1) {
if (! geofence_set_enabled(false, AUTO_TOGGLED)) { if (! geofence_set_enabled(false, AUTO_TOGGLED)) {
@ -884,18 +884,18 @@ void Plane::set_flight_stage(AP_SpdHgtControl::FlightStage fs)
case AP_SpdHgtControl::FLIGHT_LAND_ABORT: case AP_SpdHgtControl::FLIGHT_LAND_ABORT:
gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100); gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm", auto_state.takeoff_altitude_rel_cm/100);
auto_state.land_in_progress = false; landing.in_progress = false;
break; break;
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE: case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL: case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
auto_state.land_in_progress = true; landing.in_progress = true;
break; break;
case AP_SpdHgtControl::FLIGHT_NORMAL: case AP_SpdHgtControl::FLIGHT_NORMAL:
case AP_SpdHgtControl::FLIGHT_VTOL: case AP_SpdHgtControl::FLIGHT_VTOL:
case AP_SpdHgtControl::FLIGHT_TAKEOFF: case AP_SpdHgtControl::FLIGHT_TAKEOFF:
auto_state.land_in_progress = false; landing.in_progress = false;
break; break;
} }
@ -935,14 +935,14 @@ void Plane::update_alt()
if (auto_throttle_mode && !throttle_suppressed) { if (auto_throttle_mode && !throttle_suppressed) {
float distance_beyond_land_wp = 0; float distance_beyond_land_wp = 0;
if (auto_state.land_in_progress && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) { if (landing.in_progress && location_passed_point(current_loc, prev_WP_loc, next_WP_loc)) {
distance_beyond_land_wp = get_distance(current_loc, next_WP_loc); distance_beyond_land_wp = get_distance(current_loc, next_WP_loc);
} }
SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(), SpdHgt_Controller->update_pitch_throttle(relative_target_altitude_cm(),
target_airspeed_cm, target_airspeed_cm,
flight_stage, flight_stage,
auto_state.land_in_progress, landing.in_progress,
distance_beyond_land_wp, distance_beyond_land_wp,
get_takeoff_pitch_min_cd(), get_takeoff_pitch_min_cd(),
throttle_nudge, throttle_nudge,
@ -970,9 +970,9 @@ void Plane::update_flight_stage(void)
flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT){ flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT){
// abort mode is sticky, it must complete while executing NAV_LAND // abort mode is sticky, it must complete while executing NAV_LAND
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_ABORT); set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_ABORT);
} else if (auto_state.land_complete == true) { } else if (landing.complete == true) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_FINAL); set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_FINAL);
} else if (auto_state.land_pre_flare == true) { } else if (landing.pre_flare == true) {
set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_PREFLARE); set_flight_stage(AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
} else if (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) { } else if (flight_stage != AP_SpdHgtControl::FLIGHT_LAND_APPROACH) {
bool heading_lined_up = abs(nav_controller->bearing_error_cd()) < 1000 && !nav_controller->data_is_stale(); bool heading_lined_up = abs(nav_controller->bearing_error_cd()) < 1000 && !nav_controller->data_is_stale();

25
ArduPlane/Plane.h
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@ -457,16 +457,6 @@ private:
// Flag for using gps ground course instead of INS yaw. Set false when takeoff command in process. // Flag for using gps ground course instead of INS yaw. Set false when takeoff command in process.
bool takeoff_complete:1; bool takeoff_complete:1;
// Flag to indicate if we have landed.
// Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
bool land_complete:1;
// Flag to indicate if we have triggered pre-flare. This occurs when we have reached LAND_PF_ALT
bool land_pre_flare:1;
// are we in auto and flight mode is approach || pre-flare || final (flare)
bool land_in_progress:1;
// are we headed to the land approach waypoint? Works for any nav type // are we headed to the land approach waypoint? Works for any nav type
bool wp_is_land_approach:1; bool wp_is_land_approach:1;
@ -482,9 +472,6 @@ private:
// in FBWA taildragger takeoff mode // in FBWA taildragger takeoff mode
bool fbwa_tdrag_takeoff_mode:1; bool fbwa_tdrag_takeoff_mode:1;
// have we checked for an auto-land?
bool checked_for_autoland:1;
// denotes if a go-around has been commanded for landing // denotes if a go-around has been commanded for landing
bool commanded_go_around:1; bool commanded_go_around:1;
@ -532,18 +519,9 @@ private:
// last time is_flying() returned true in milliseconds // last time is_flying() returned true in milliseconds
uint32_t last_flying_ms; uint32_t last_flying_ms;
// once landed, post some landing statistics to the GCS
bool post_landing_stats;
// time stamp of when we start flying while in auto mode in milliseconds // time stamp of when we start flying while in auto mode in milliseconds
uint32_t started_flying_in_auto_ms; uint32_t started_flying_in_auto_ms;
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - aparm.land_flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc)
float land_slope;
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
float initial_land_slope;
// barometric altitude at start of takeoff // barometric altitude at start of takeoff
float baro_takeoff_alt; float baro_takeoff_alt;
@ -552,9 +530,6 @@ private:
// are we doing loiter mode as a VTOL? // are we doing loiter mode as a VTOL?
bool vtol_loiter:1; bool vtol_loiter:1;
// landing altitude offset (meters)
float land_alt_offset;
} auto_state; } auto_state;
struct { struct {

6
ArduPlane/altitude.cpp
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@ -473,10 +473,10 @@ float Plane::mission_alt_offset(void)
{ {
float ret = g.alt_offset; float ret = g.alt_offset;
if (control_mode == AUTO && if (control_mode == AUTO &&
(auto_state.land_in_progress || auto_state.wp_is_land_approach)) { (landing.in_progress || auto_state.wp_is_land_approach)) {
// when landing after an aborted landing due to too high glide // when landing after an aborted landing due to too high glide
// slope we use an offset from the last landing attempt // slope we use an offset from the last landing attempt
ret += auto_state.land_alt_offset; ret += landing.alt_offset;
} }
return ret; return ret;
} }
@ -657,7 +657,7 @@ void Plane::rangefinder_height_update(void)
if (now - rangefinder_state.last_correction_time_ms > 5000) { if (now - rangefinder_state.last_correction_time_ms > 5000) {
rangefinder_state.correction = correction; rangefinder_state.correction = correction;
rangefinder_state.initial_correction = correction; rangefinder_state.initial_correction = correction;
auto_state.initial_land_slope = auto_state.land_slope; landing.initial_slope = landing.slope;
rangefinder_state.last_correction_time_ms = now; rangefinder_state.last_correction_time_ms = now;
} else { } else {
rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction; rangefinder_state.correction = 0.8f*rangefinder_state.correction + 0.2f*correction;

2
ArduPlane/avoidance_adsb.cpp
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@ -25,7 +25,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob
// take no action in some flight modes // take no action in some flight modes
if (plane.control_mode == MANUAL || if (plane.control_mode == MANUAL ||
(plane.control_mode == AUTO && !plane.auto_state.takeoff_complete) || (plane.control_mode == AUTO && !plane.auto_state.takeoff_complete) ||
(plane.control_mode == AUTO && plane.auto_state.land_in_progress) || // TODO: consider allowing action during approach (plane.control_mode == AUTO && plane.landing.in_progress) || // TODO: consider allowing action during approach
plane.control_mode == AUTOTUNE || plane.control_mode == AUTOTUNE ||
plane.control_mode == QLAND) { plane.control_mode == QLAND) {
actual_action = MAV_COLLISION_ACTION_NONE; actual_action = MAV_COLLISION_ACTION_NONE;

8
ArduPlane/commands_logic.cpp
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@ -16,8 +16,8 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
// special handling for nav vs non-nav commands // special handling for nav vs non-nav commands
if (AP_Mission::is_nav_cmd(cmd)) { if (AP_Mission::is_nav_cmd(cmd)) {
// set land_complete to false to stop us zeroing the throttle // set land_complete to false to stop us zeroing the throttle
auto_state.land_complete = false; landing.complete = false;
auto_state.land_pre_flare = false; landing.pre_flare = false;
auto_state.sink_rate = 0; auto_state.sink_rate = 0;
// set takeoff_complete to true so we don't add extra elevator // set takeoff_complete to true so we don't add extra elevator
@ -31,7 +31,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
auto_state.idle_mode = false; auto_state.idle_mode = false;
// once landed, post some landing statistics to the GCS // once landed, post some landing statistics to the GCS
auto_state.post_landing_stats = false; landing.post_stats = false;
nav_controller->set_data_is_stale(); nav_controller->set_data_is_stale();
@ -399,7 +399,7 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
auto_state.takeoff_pitch_cd = 1000; auto_state.takeoff_pitch_cd = 1000;
} }
auto_state.land_slope = 0; landing.slope = 0;
// zero rangefinder state, start to accumulate good samples now // zero rangefinder state, start to accumulate good samples now
memset(&rangefinder_state, 0, sizeof(rangefinder_state)); memset(&rangefinder_state, 0, sizeof(rangefinder_state));

2
ArduPlane/is_flying.cpp
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@ -295,7 +295,7 @@ void Plane::crash_detection_update(void)
if (g.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) { if (g.crash_detection_enable & CRASH_DETECT_ACTION_BITMASK_DISARM) {
disarm_motors(); disarm_motors();
} }
auto_state.land_complete = true; landing.complete = true;
if (crashed_near_land_waypoint) { if (crashed_near_land_waypoint) {
gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected"); gcs_send_text(MAV_SEVERITY_CRITICAL, "Hard landing detected");
} else { } else {

32
ArduPlane/landing.cpp
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@ -19,8 +19,8 @@ bool Plane::verify_land()
if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) { if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
throttle_suppressed = false; throttle_suppressed = false;
auto_state.land_complete = false; landing.complete = false;
auto_state.land_pre_flare = false; landing.pre_flare = false;
nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc)); nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
// see if we have reached abort altitude // see if we have reached abort altitude
@ -71,8 +71,8 @@ bool Plane::verify_land()
(!rangefinder_in_range && auto_state.wp_proportion >= 1) || (!rangefinder_in_range && auto_state.wp_proportion >= 1) ||
probably_crashed) { probably_crashed) {
if (!auto_state.land_complete) { if (!landing.complete) {
auto_state.post_landing_stats = true; landing.post_stats = true;
if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) { if (!is_flying() && (millis()-auto_state.last_flying_ms) > 3000) {
gcs_send_text_fmt(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed()); gcs_send_text_fmt(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed());
} else { } else {
@ -81,7 +81,7 @@ bool Plane::verify_land()
(double)gps.ground_speed(), (double)gps.ground_speed(),
(double)get_distance(current_loc, next_WP_loc)); (double)get_distance(current_loc, next_WP_loc));
} }
auto_state.land_complete = true; landing.complete = true;
update_flight_stage(); update_flight_stage();
} }
@ -95,11 +95,11 @@ bool Plane::verify_land()
g.min_gndspeed_cm.load(); g.min_gndspeed_cm.load();
aparm.throttle_cruise.load(); aparm.throttle_cruise.load();
} }
} else if (!auto_state.land_complete && !auto_state.land_pre_flare && aparm.land_pre_flare_airspeed > 0) { } else if (!landing.complete && !landing.pre_flare && aparm.land_pre_flare_airspeed > 0) {
bool reached_pre_flare_alt = g.land_pre_flare_alt > 0 && (height <= g.land_pre_flare_alt); bool reached_pre_flare_alt = g.land_pre_flare_alt > 0 && (height <= g.land_pre_flare_alt);
bool reached_pre_flare_sec = g.land_pre_flare_sec > 0 && (height <= auto_state.sink_rate * g.land_pre_flare_sec); bool reached_pre_flare_sec = g.land_pre_flare_sec > 0 && (height <= auto_state.sink_rate * g.land_pre_flare_sec);
if (reached_pre_flare_alt || reached_pre_flare_sec) { if (reached_pre_flare_alt || reached_pre_flare_sec) {
auto_state.land_pre_flare = true; landing.pre_flare = true;
update_flight_stage(); update_flight_stage();
} }
} }
@ -117,8 +117,8 @@ bool Plane::verify_land()
// once landed and stationary, post some statistics // 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 // this is done before disarm_if_autoland_complete() so that it happens on the next loop after the disarm
if (auto_state.post_landing_stats && !arming.is_armed()) { if (landing.post_stats && !arming.is_armed()) {
auto_state.post_landing_stats = false; landing.post_stats = false;
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc)); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
} }
@ -188,15 +188,15 @@ void Plane::adjust_landing_slope_for_rangefinder_bump(void)
// offset and "perfect" slope. // offset and "perfect" slope.
// calculate projected slope with projected alt // calculate projected slope with projected alt
float new_slope_deg = degrees(atan(auto_state.land_slope)); float new_slope_deg = degrees(atan(landing.slope));
float initial_slope_deg = degrees(atan(auto_state.initial_land_slope)); float initial_slope_deg = degrees(atan(landing.initial_slope));
// is projected slope too steep? // is projected slope too steep?
if (new_slope_deg - initial_slope_deg > g.land_slope_recalc_steep_threshold_to_abort) { if (new_slope_deg - initial_slope_deg > g.land_slope_recalc_steep_threshold_to_abort) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Steep landing slope (%.0fm %.1fdeg)", GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Steep landing slope (%.0fm %.1fdeg)",
(double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg)); (double)rangefinder_state.correction, (double)(new_slope_deg - initial_slope_deg));
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "aborting landing!"); GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "aborting landing!");
auto_state.land_alt_offset = rangefinder_state.correction; landing.alt_offset = rangefinder_state.correction;
auto_state.commanded_go_around = 1; auto_state.commanded_go_around = 1;
g.land_slope_recalc_steep_threshold_to_abort = 0; // disable this feature so we only perform it once g.land_slope_recalc_steep_threshold_to_abort = 0; // disable this feature so we only perform it once
} }
@ -251,10 +251,10 @@ void Plane::setup_landing_glide_slope(void)
} }
// calculate slope to landing point // calculate slope to landing point
bool is_first_calc = is_zero(auto_state.land_slope); bool is_first_calc = is_zero(landing.slope);
auto_state.land_slope = (sink_height - aim_height) / total_distance; landing.slope = (sink_height - aim_height) / total_distance;
if (is_first_calc) { if (is_first_calc) {
gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(auto_state.land_slope))); gcs_send_text_fmt(MAV_SEVERITY_INFO, "Landing glide slope %.1f degrees", (double)degrees(atanf(landing.slope)));
} }
@ -283,7 +283,7 @@ void Plane::setup_landing_glide_slope(void)
// calculate point along that slope 500m ahead // calculate point along that slope 500m ahead
location_update(loc, land_bearing_cd*0.01f, land_projection); location_update(loc, land_bearing_cd*0.01f, land_projection);
loc.alt -= auto_state.land_slope * land_projection * 100; loc.alt -= landing.slope * land_projection * 100;
// setup the offset_cm for set_target_altitude_proportion() // setup the offset_cm for set_target_altitude_proportion()
target_altitude.offset_cm = loc.alt - prev_WP_loc.alt; target_altitude.offset_cm = loc.alt - prev_WP_loc.alt;

2
ArduPlane/navigation.cpp
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@ -108,7 +108,7 @@ void Plane::calc_airspeed_errors()
case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE: case AP_SpdHgtControl::FLIGHT_LAND_PREFLARE:
case AP_SpdHgtControl::FLIGHT_LAND_FINAL: case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
if (auto_state.land_pre_flare && aparm.land_pre_flare_airspeed > 0) { if (landing.pre_flare && aparm.land_pre_flare_airspeed > 0) {
// if we just preflared then continue using the pre-flare airspeed during final flare // if we just preflared then continue using the pre-flare airspeed during final flare
target_airspeed_cm = aparm.land_pre_flare_airspeed * 100; target_airspeed_cm = aparm.land_pre_flare_airspeed * 100;
} else if (land_airspeed >= 0) { } else if (land_airspeed >= 0) {

2
ArduPlane/servos.cpp
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@ -774,7 +774,7 @@ void Plane::set_servos(void)
if (g.land_then_servos_neutral > 0 && if (g.land_then_servos_neutral > 0 &&
control_mode == AUTO && control_mode == AUTO &&
g.land_disarm_delay > 0 && g.land_disarm_delay > 0 &&
auto_state.land_complete && landing.complete &&
!arming.is_armed()) { !arming.is_armed()) {
// after an auto land and auto disarm, set the servos to be neutral just // after an auto land and auto disarm, set the servos to be neutral just
// in case we're upside down or some crazy angle and straining the servos. // in case we're upside down or some crazy angle and straining the servos.

4
ArduPlane/system.cpp
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@ -335,13 +335,13 @@ void Plane::set_mode(enum FlightMode mode, mode_reason_t reason)
auto_state.next_wp_no_crosstrack = true; auto_state.next_wp_no_crosstrack = true;
// reset landing check // reset landing check
auto_state.checked_for_autoland = false; landing.checked_for_autoland = false;
// reset go around command // reset go around command
auto_state.commanded_go_around = false; auto_state.commanded_go_around = false;
// not in pre-flare // not in pre-flare
auto_state.land_pre_flare = false; landing.pre_flare = false;
// zero locked course // zero locked course
steer_state.locked_course_err = 0; steer_state.locked_course_err = 0;

25
libraries/AP_Landing/AP_Landing.h
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@ -32,6 +32,31 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// Flag to indicate if we have landed.
// Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
bool complete;
// Flag to indicate if we have triggered pre-flare. This occurs when we have reached LAND_PF_ALT
bool pre_flare;
// are we in auto and flight mode is approach || pre-flare || final (flare)
bool in_progress;
// calculated approach slope during auto-landing: ((prev_WP_loc.alt - next_WP_loc.alt)*0.01f - aparm.land_flare_sec * sink_rate) / get_distance(prev_WP_loc, next_WP_loc)
float slope;
// same as land_slope but sampled once before a rangefinder changes the slope. This should be the original mission planned slope
float initial_slope;
// landing altitude offset (meters)
float alt_offset;
// once landed, post some landing statistics to the GCS
bool post_stats;
// have we checked for an auto-land?
bool checked_for_autoland;
private: private:
AP_Mission &mission; AP_Mission &mission;

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