Plane: port the rest of plane/landing.cpp to AP_Landing

ArduPlane/Plane.h

@@ -570,7 +570,7 @@ private:
     bool auto_navigation_mode:1;
     
     // this controls throttle suppression in auto modes
-    bool throttle_suppressed:1;
+    bool throttle_suppressed;
 	
     // reduce throttle to eliminate battery over-current
     int8_t  throttle_watt_limit_max;
@@ -622,7 +622,13 @@ private:
     AP_Terrain terrain {ahrs, mission, rally};
 #endif
 
-    AP_Landing landing {mission,ahrs,SpdHgt_Controller,aparm};
+    AP_Landing landing {mission,ahrs,SpdHgt_Controller,nav_controller,aparm,
+        FUNCTOR_BIND_MEMBER(&Plane::set_target_altitude_proportion, void, const Location&, float),
+        FUNCTOR_BIND_MEMBER(&Plane::constrain_target_altitude_location, void, const Location&, const Location&),
+        FUNCTOR_BIND_MEMBER(&Plane::adjusted_altitude_cm, int32_t),
+        FUNCTOR_BIND_MEMBER(&Plane::adjusted_relative_altitude_cm, int32_t),
+        FUNCTOR_BIND_MEMBER(&Plane::disarm_if_autoland_complete, void),
+        FUNCTOR_BIND_MEMBER(&Plane::update_flight_stage, void)};
 
     AP_ADSB adsb {ahrs};
 
@@ -913,8 +919,6 @@ private:
     bool geofence_breached(void);
     bool verify_land();
     void disarm_if_autoland_complete();
-    void setup_landing_glide_slope(void);
-    void adjust_landing_slope_for_rangefinder_bump(void);
     float tecs_hgt_afe(void);
     void set_nav_controller(void);
     void loiter_angle_reset(void);

ArduPlane/altitude.cpp

@@ -35,8 +35,8 @@ void Plane::adjust_altitude_target()
         set_target_altitude_location(next_WP_loc);
     } else if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
             flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE) {
-        setup_landing_glide_slope();
+        landing.setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude.offset_cm);
-        adjust_landing_slope_for_rangefinder_bump();
+        landing.adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, auto_state.wp_distance, target_altitude.offset_cm);
     } else if (reached_loiter_target()) {
         // once we reach a loiter target then lock to the final
         // altitude target

ArduPlane/landing.cpp

@@ -10,180 +10,10 @@
  */
 bool Plane::verify_land()
 {
-    // we don't 'verify' landing in the sense that it never completes,
-    // so we don't verify command completion. Instead we use this to
-    // adjust final landing parameters
-
-    // when aborting a landing, mimic the verify_takeoff with steering hold. Once
-    // the altitude has been reached, restart the landing sequence
-    if (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_ABORT) {
-
-        throttle_suppressed = false;
-        landing.complete = false;
-        landing.pre_flare = false;
-        nav_controller->update_heading_hold(get_bearing_cd(prev_WP_loc, next_WP_loc));
-
-        // see if we have reached abort altitude
-        if (adjusted_relative_altitude_cm() > auto_state.takeoff_altitude_rel_cm) {
-            next_WP_loc = current_loc;
-            mission.stop();
-            bool success = landing.restart_landing_sequence();
-            mission.resume();
-            if (!success) {
-                // on a restart failure lets RTL or else the plane may fly away with nowhere to go!
-                set_mode(RTL, MODE_REASON_MISSION_END);
-            }
-            // make sure to return false so it leaves the mission index alone
-        }
-        return false;
-    }
-
-    float height = height_above_target();
-
     // use rangefinder to correct if possible
-    height -= rangefinder_correction();
+    float height = height_above_target() - rangefinder_correction();
-
-    /* Set land_complete (which starts the flare) under 3 conditions:
-       1) we are within LAND_FLARE_ALT meters of the landing altitude
-       2) we are within LAND_FLARE_SEC of the landing point vertically
-          by the calculated sink rate (if LAND_FLARE_SEC != 0)
-       3) we have gone past the landing point and don't have
-          rangefinder data (to prevent us keeping throttle on
-          after landing if we've had positive baro drift)
-    */
-    bool rangefinder_in_range = rangefinder_state.in_range;
-
-    // flare check:
-    // 1) below flare alt/sec requires approach stage check because if sec/alt are set too
-    //    large, and we're on a hard turn to line up for approach, we'll prematurely flare by
-    //    skipping approach phase and the extreme roll limits will make it hard to line up with runway
-    // 2) passed land point and don't have an accurate AGL
-    // 3) probably crashed (ensures motor gets turned off)
-
-    bool on_approach_stage = (flight_stage == AP_SpdHgtControl::FLIGHT_LAND_APPROACH ||
-                              flight_stage == AP_SpdHgtControl::FLIGHT_LAND_PREFLARE);
-    bool below_flare_alt = (height <= aparm.land_flare_alt);
-    bool below_flare_sec = (aparm.land_flare_sec > 0 && height <= auto_state.sink_rate * aparm.land_flare_sec);
-    bool probably_crashed = (aparm.crash_detection_enable && fabsf(auto_state.sink_rate) < 0.2f && !is_flying());
-
-    if ((on_approach_stage && below_flare_alt) ||
-        (on_approach_stage && below_flare_sec && (auto_state.wp_proportion > 0.5)) ||
-        (!rangefinder_in_range && auto_state.wp_proportion >= 1) ||
-        probably_crashed) {
-
-        if (!landing.complete) {
-            landing.post_stats = true;
-            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());
-            } else {
-                gcs_send_text_fmt(MAV_SEVERITY_INFO, "Flare %.1fm sink=%.2f speed=%.1f dist=%.1f",
-                                  (double)height, (double)auto_state.sink_rate,
-                                  (double)gps.ground_speed(),
-                                  (double)get_distance(current_loc, next_WP_loc));
-            }
-            landing.complete = true;
-            update_flight_stage();
-        }
-
-
-        if (gps.ground_speed() < 3) {
-            // reload any airspeed or groundspeed parameters that may have
-            // been set for landing. We don't do this till ground
-            // speed drops below 3.0 m/s as otherwise we will change
-            // target speeds too early.
-            aparm.airspeed_cruise_cm.load();
-            aparm.min_gndspeed_cm.load();
-            aparm.throttle_cruise.load();
-        }
-    } else if (!landing.complete && !landing.pre_flare && aparm.land_pre_flare_airspeed > 0) {
-        bool reached_pre_flare_alt = aparm.land_pre_flare_alt > 0 && (height <= aparm.land_pre_flare_alt);
-        bool reached_pre_flare_sec = aparm.land_pre_flare_sec > 0 && (height <= auto_state.sink_rate * aparm.land_pre_flare_sec);
-        if (reached_pre_flare_alt || reached_pre_flare_sec) {
-            landing.pre_flare = true;
-            update_flight_stage();
-        }
-    }
-
-    /*
-      when landing we keep the L1 navigation waypoint 200m ahead. This
-      prevents sudden turns if we overshoot the landing point
-     */
-    struct Location land_WP_loc = next_WP_loc;
-    int32_t land_bearing_cd = get_bearing_cd(prev_WP_loc, next_WP_loc);
-    location_update(land_WP_loc,
-                    land_bearing_cd*0.01f,
-                    get_distance(prev_WP_loc, current_loc) + 200);
-    nav_controller->update_waypoint(prev_WP_loc, land_WP_loc);
-
-    // 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 (landing.post_stats && !arming.is_armed()) {
-        landing.post_stats = false;
-        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Distance from LAND point=%.2fm", (double)get_distance(current_loc, next_WP_loc));
-    }
-
-    // check if we should auto-disarm after a confirmed landing
-    disarm_if_autoland_complete();
-
-    /*
-      we return false as a landing mission item never completes
-
-      we stay on this waypoint unless the GCS commands us to change
-      mission item, reset the mission, command a go-around or finish
-      a land_abort procedure.
-     */
-    return false;
-}
 
-void Plane::adjust_landing_slope_for_rangefinder_bump(void)
+    return landing.verify_land(flight_stage, prev_WP_loc, next_WP_loc, current_loc,
-{
+            auto_state.takeoff_altitude_rel_cm, height, auto_state.sink_rate, auto_state.wp_proportion, auto_state.last_flying_ms, arming.is_armed(), is_flying(), rangefinder_state.in_range, throttle_suppressed);
-    // check the rangefinder correction for a large change. When found, recalculate the glide slope. This is done by
-    // determining the slope from your current location to the land point then following that back up to the approach
-    // altitude and moving the prev_wp to that location. From there
-    float correction_delta = fabsf(rangefinder_state.last_stable_correction) - fabsf(rangefinder_state.correction);
-
-    if (aparm.land_slope_recalc_shallow_threshold <= 0 ||
-            fabsf(correction_delta) < aparm.land_slope_recalc_shallow_threshold) {
-        return;
-    }
-
-    rangefinder_state.last_stable_correction = rangefinder_state.correction;
-
-    float corrected_alt_m = (adjusted_altitude_cm() - next_WP_loc.alt)*0.01f - rangefinder_state.correction;
-    float total_distance_m = get_distance(prev_WP_loc, next_WP_loc);
-    float top_of_glide_slope_alt_m = total_distance_m * corrected_alt_m / auto_state.wp_distance;
-    prev_WP_loc.alt = top_of_glide_slope_alt_m*100 + next_WP_loc.alt;
-
-    // re-calculate auto_state.land_slope with updated prev_WP_loc
-    setup_landing_glide_slope();
-
-    landing.check_if_need_to_abort(rangefinder_state);
-}
-
-/*
-  a special glide slope calculation for the landing approach
-
-  During the land approach use a linear glide slope to a point
-  projected through the landing point. We don't use the landing point
-  itself as that leads to discontinuities close to the landing point,
-  which can lead to erratic pitch control
- */
-void Plane::setup_landing_glide_slope(void)
-{
-    Location loc = landing.setup_landing_glide_slope(prev_WP_loc, next_WP_loc);
-
-    // setup the offset_cm for set_target_altitude_proportion()
-    target_altitude.offset_cm = loc.alt - prev_WP_loc.alt;
-
-    // calculate the proportion we are to the target
-    float land_proportion = location_path_proportion(current_loc, prev_WP_loc, loc);
-
-    // now setup the glide slope for landing
-    set_target_altitude_proportion(loc, 1.0f - land_proportion);
-
-    // stay within the range of the start and end locations in altitude
-    constrain_target_altitude_location(loc, prev_WP_loc);
 }
 
-
-