AP_TECS: migrate aparm "LAND_" params from plane to AP_Landing

libraries/AP_TECS/AP_TECS.cpp

@@ -981,7 +981,7 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         
     if (flight_stage == FLIGHT_LAND_FINAL) {
         // in flare use min pitch from LAND_PITCH_CD
-        _PITCHminf = MAX(_PITCHminf, aparm.land_pitch_cd * 0.01f);
+        _PITCHminf = MAX(_PITCHminf, _landing.pitch_cd * 0.01f);
 
         // and use max pitch from TECS_LAND_PMAX
         if (_land_pitch_max != 0) {
@@ -994,15 +994,15 @@ void AP_TECS::update_pitch_throttle(int32_t hgt_dem_cm,
         // constrain the pitch in landing as we get close to the flare
         // point. Use a simple linear limit from 15 meters after the
         // landing point
-        float time_to_flare = (- hgt_afe / _climb_rate) - aparm.land_flare_sec;
+        float time_to_flare = (- hgt_afe / _climb_rate) - _landing.flare_sec;
         if (time_to_flare < 0) {
             // we should be flaring already
-            _PITCHminf = MAX(_PITCHminf, aparm.land_pitch_cd * 0.01f);
+            _PITCHminf = MAX(_PITCHminf, _landing.pitch_cd * 0.01f);
         } else if (time_to_flare < timeConstant()*2) {
             // smoothly move the min pitch to the flare min pitch over
             // twice the time constant
             float p = time_to_flare/(2*timeConstant());
-            float pitch_limit_cd = p*aparm.pitch_limit_min_cd + (1-p)*aparm.land_pitch_cd;
+            float pitch_limit_cd = p*aparm.pitch_limit_min_cd + (1-p)*_landing.pitch_cd;
 #if 0
             ::printf("ttf=%.1f hgt_afe=%.1f _PITCHminf=%.1f pitch_limit=%.1f climb=%.1f\n",
                      time_to_flare, hgt_afe, _PITCHminf, pitch_limit_cd*0.01f, _climb_rate);

libraries/AP_TECS/AP_TECS.h

@@ -24,12 +24,14 @@
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <AP_SpdHgtControl/AP_SpdHgtControl.h>
 #include <DataFlash/DataFlash.h>
+#include <AP_Landing/AP_Landing.h>
 
 class AP_TECS : public AP_SpdHgtControl {
 public:
-    AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
+    AP_TECS(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms, const AP_Landing &landing) :
         _ahrs(ahrs),
-        aparm(parms)
+        aparm(parms),
+        _landing(landing)
     {
         AP_Param::setup_object_defaults(this, var_info);
     }
@@ -123,6 +125,9 @@ private:
     // reference to the AHRS object
     AP_AHRS &_ahrs;
 
+    // reference to const AP_Landing to access it's params
+    const AP_Landing &_landing;
+
     const AP_Vehicle::FixedWing &aparm;
 
     // TECS tuning parameters