删除不必要函数，降落速度，高度判断函数

ArduCopter/Attitude.cpp

@@ -162,42 +162,3 @@ uint16_t Copter::get_pilot_speed_dn()
         return abs(g2.pilot_speed_dn);
     }
 }
-
-uint16_t Copter::get_speed_dn_slow()
-{
-    int16_t speed_dn_now = 0 ;
-
-    if(get_alt_above_ground_cm() < g2.land_alt_low){ // 2m
-        speed_dn_now = g.land_speed;
-    }
-    else if(get_alt_above_ground_cm() < g.land_slow_2nd_alt){ // 15m
-        speed_dn_now = g.land_speed_2nd;
-    }
-    else if(get_alt_above_ground_cm() < g.land_slow_3nd_alt){  // 30m
-        speed_dn_now = g.land_speed_3nd;
-    }
-    else
-    {
-        speed_dn_now = g2.pilot_speed_dn;
-    }
-
-   if (speed_dn_now == 0) {
-        return abs(g.pilot_speed_up);
-    } else {
-        return abs(speed_dn_now);
-    }
-}
-
-int32_t Copter::get_alt_above_ground_cm()
-{
-    int32_t alt_above_ground;
-    if (rangefinder_alt_ok() && current_loc.alt < g.land_slow_3nd_alt) {
-        alt_above_ground = rangefinder_state.alt_cm_filt.get();
-    } else {
-        bool navigating = pos_control->is_active_xy();
-        if (!navigating || !current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, alt_above_ground)) {
-            alt_above_ground = current_loc.alt;
-        }
-    }
-    return alt_above_ground;
-}

ArduCopter/Copter.h

@@ -698,8 +698,6 @@ private:
     void set_accel_throttle_I_from_pilot_throttle();
     void rotate_body_frame_to_NE(float &x, float &y);
     uint16_t get_pilot_speed_dn();
-    uint16_t get_speed_dn_slow();
-    int32_t get_alt_above_ground_cm();
     UpDownState updownStatus = UpDown_TakeOffStart;
 #if ADSB_ENABLED == ENABLED
     // avoidance_adsb.cpp

ArduCopter/mode.cpp

@@ -520,7 +520,7 @@ void Mode::make_safe_spool_down()
 int32_t Mode::get_alt_above_ground_cm(void)
 {
     int32_t alt_above_ground;
-    if (copter.rangefinder_alt_ok() && copter.current_loc.alt < g.land_slow_2nd_alt) {
+    if (copter.rangefinder_alt_ok() && copter.current_loc.alt < g.land_slow_3nd_alt) {
         alt_above_ground = copter.rangefinder_state.alt_cm_filt.get();
     } else {
         bool navigating = pos_control->is_active_xy();
@@ -888,5 +888,25 @@ uint16_t Mode::get_pilot_speed_dn()
 
 uint16_t Mode::get_speed_dn_slow()
 {
-    return copter.get_speed_dn_slow();
+    int16_t speed_dn_now = 0 ;
+
+    if(get_alt_above_ground_cm() < g2.land_alt_low){ // 2m
+        speed_dn_now = g.land_speed;
+    }
+    else if(get_alt_above_ground_cm() < g.land_slow_2nd_alt){ // 15m
+        speed_dn_now = g.land_speed_2nd;
+    }
+    else if(get_alt_above_ground_cm() < g.land_slow_3nd_alt){  // 30m
+        speed_dn_now = g.land_speed_3nd;
+    }
+    else
+    {
+        speed_dn_now = g2.pilot_speed_dn;
+    }
+
+   if (speed_dn_now == 0) {
+        return abs(g.pilot_speed_up);
+    } else {
+        return abs(speed_dn_now);
+    }
 }