AP_Landing Class Reference

Class managing ArduPlane landing methods. More...

#include <AP_Landing.h>

Collaboration diagram for AP_Landing:

Public Types
enum	Landing_Type { TYPE_STANDARD_GLIDE_SLOPE = 0, TYPE_DEEPSTALL = 1 }

Public Member Functions
	FUNCTOR_TYPEDEF (set_target_altitude_proportion_fn_t, void, const Location &, float)
	FUNCTOR_TYPEDEF (constrain_target_altitude_location_fn_t, void, const Location &, const Location &)
	FUNCTOR_TYPEDEF (adjusted_altitude_cm_fn_t, int32_t)
	FUNCTOR_TYPEDEF (adjusted_relative_altitude_cm_fn_t, int32_t)
	FUNCTOR_TYPEDEF (disarm_if_autoland_complete_fn_t, void)
	FUNCTOR_TYPEDEF (update_flight_stage_fn_t, void)
	AP_Landing (AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_SpdHgt_Controller, AP_Navigation *_nav_controller, AP_Vehicle::FixedWing &_aparm, set_target_altitude_proportion_fn_t _set_target_altitude_proportion_fn, constrain_target_altitude_location_fn_t _constrain_target_altitude_location_fn, adjusted_altitude_cm_fn_t _adjusted_altitude_cm_fn, adjusted_relative_altitude_cm_fn_t _adjusted_relative_altitude_cm_fn, disarm_if_autoland_complete_fn_t _disarm_if_autoland_complete_fn, update_flight_stage_fn_t _update_flight_stage_fn)
	AP_Landing (const AP_Landing &other)=delete
AP_Landing &	operator= (const AP_Landing &)=delete
void	do_land (const AP_Mission::Mission_Command &cmd, const float relative_altitude)
bool	verify_abort_landing (const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const int32_t auto_state_takeoff_altitude_rel_cm, bool &throttle_suppressed)
bool	verify_land (const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range)
void	adjust_landing_slope_for_rangefinder_bump (AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm)
void	setup_landing_glide_slope (const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm)
bool	override_servos (void)
void	check_if_need_to_abort (const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state)
bool	request_go_around (void)
bool	is_flaring (void) const
bool	is_on_approach (void) const
bool	is_ground_steering_allowed (void) const
bool	is_throttle_suppressed (void) const
bool	is_flying_forward (void) const
void	handle_flight_stage_change (const bool _in_landing_stage)
int32_t	constrain_roll (const int32_t desired_roll_cd, const int32_t level_roll_limit_cd)
bool	get_target_altitude_location (Location &location)
bool	send_landing_message (mavlink_channel_t chan)
bool	terminate (void)
bool	restart_landing_sequence (void)
float	wind_alignment (const float heading_deg)
float	head_wind (void)
int32_t	get_target_airspeed_cm (void)
int16_t	get_pitch_cd (void) const
float	get_flare_sec (void) const
int8_t	get_disarm_delay (void) const
int8_t	get_then_servos_neutral (void) const
int8_t	get_abort_throttle_enable (void) const
int8_t	get_flap_percent (void) const
int8_t	get_throttle_slewrate (void) const
bool	is_commanded_go_around (void) const
bool	is_complete (void) const
void	set_initial_slope (void)
bool	is_expecting_impact (void) const
void	Log (void) const
const DataFlash_Class::PID_Info *	get_pid_info (void) const

Public Attributes
float	alt_offset
bool	commanded_go_around:1
bool	in_progress:1
bool	post_stats:1
bool	has_aborted_due_to_slope_recalc:1

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Types
enum	{ SLOPE_STAGE_NORMAL, SLOPE_STAGE_APPROACH, SLOPE_STAGE_PREFLARE, SLOPE_STAGE_FINAL }

Private Member Functions
void	type_slope_do_land (const AP_Mission::Mission_Command &cmd, const float relative_altitude)
void	type_slope_verify_abort_landing (const Location &prev_WP_loc, Location &next_WP_loc, bool &throttle_suppressed)
bool	type_slope_verify_land (const Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float height, const float sink_rate, const float wp_proportion, const uint32_t last_flying_ms, const bool is_armed, const bool is_flying, const bool rangefinder_state_in_range)
void	type_slope_adjust_landing_slope_for_rangefinder_bump (AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state, Location &prev_WP_loc, Location &next_WP_loc, const Location &current_loc, const float wp_distance, int32_t &target_altitude_offset_cm)
void	type_slope_setup_landing_glide_slope (const Location &prev_WP_loc, const Location &next_WP_loc, const Location &current_loc, int32_t &target_altitude_offset_cm)
int32_t	type_slope_get_target_airspeed_cm (void)
void	type_slope_check_if_need_to_abort (const AP_Vehicle::FixedWing::Rangefinder_State &rangefinder_state)
int32_t	type_slope_constrain_roll (const int32_t desired_roll_cd, const int32_t level_roll_limit_cd)
bool	type_slope_request_go_around (void)
void	type_slope_log (void) const
bool	type_slope_is_complete (void) const
bool	type_slope_is_flaring (void) const
bool	type_slope_is_on_approach (void) const
bool	type_slope_is_expecting_impact (void) const
bool	type_slope_is_throttle_suppressed (void) const

Private Attributes
struct {
bool   commanded_go_around:1
bool   in_progress:1
}	flags
float	initial_slope
float	slope
AP_Mission &	mission
AP_AHRS &	ahrs
AP_SpdHgtControl *	SpdHgt_Controller
AP_Navigation *	nav_controller
AP_Vehicle::FixedWing &	aparm
set_target_altitude_proportion_fn_t	set_target_altitude_proportion_fn
constrain_target_altitude_location_fn_t	constrain_target_altitude_location_fn
adjusted_altitude_cm_fn_t	adjusted_altitude_cm_fn
adjusted_relative_altitude_cm_fn_t	adjusted_relative_altitude_cm_fn
disarm_if_autoland_complete_fn_t	disarm_if_autoland_complete_fn
update_flight_stage_fn_t	update_flight_stage_fn
AP_Landing_Deepstall	deepstall
AP_Int16	pitch_cd
AP_Float	flare_alt
AP_Float	flare_sec
AP_Float	pre_flare_airspeed
AP_Float	pre_flare_alt
AP_Float	pre_flare_sec
AP_Float	slope_recalc_shallow_threshold
AP_Float	slope_recalc_steep_threshold_to_abort
AP_Int8	disarm_delay
AP_Int8	then_servos_neutral
AP_Int8	abort_throttle_enable
AP_Int8	flap_percent
AP_Int8	throttle_slewrate
AP_Int8	type
enum AP_Landing:: { ... }	type_slope_stage
struct {
bool   post_stats:1
bool   has_aborted_due_to_slope_recalc:1
}	type_slope_flags

Friends
class	AP_Landing_Deepstall

Detailed Description

Class managing ArduPlane landing methods.

Definition at line 28 of file AP_Landing.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

private

Enumerator
SLOPE_STAGE_NORMAL
SLOPE_STAGE_APPROACH
SLOPE_STAGE_PREFLARE
SLOPE_STAGE_FINAL

Definition at line 158 of file AP_Landing.h.

Landing_Type

enum AP_Landing::Landing_Type

Enumerator
TYPE_STANDARD_GLIDE_SLOPE
TYPE_DEEPSTALL

Definition at line 53 of file AP_Landing.h.

Constructor & Destructor Documentation

AP_Landing() [1/2]

AP_Landing::AP_Landing	(	AP_Mission &	_mission,
		AP_AHRS &	_ahrs,
		AP_SpdHgtControl *	_SpdHgt_Controller,
		AP_Navigation *	_nav_controller,
		AP_Vehicle::FixedWing &	_aparm,
		set_target_altitude_proportion_fn_t	_set_target_altitude_proportion_fn,
		constrain_target_altitude_location_fn_t	_constrain_target_altitude_location_fn,
		adjusted_altitude_cm_fn_t	_adjusted_altitude_cm_fn,
		adjusted_relative_altitude_cm_fn_t	_adjusted_relative_altitude_cm_fn,
		disarm_if_autoland_complete_fn_t	_disarm_if_autoland_complete_fn,
		update_flight_stage_fn_t	_update_flight_stage_fn
	)

Definition at line 149 of file AP_Landing.cpp.

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AP_Landing() [2/2]

AP_Landing::AP_Landing ( const AP_Landing &  other )

delete

Member Function Documentation

adjust_landing_slope_for_rangefinder_bump()

void AP_Landing::adjust_landing_slope_for_rangefinder_bump	(	AP_Vehicle::FixedWing::Rangefinder_State &	rangefinder_state,
		Location &	prev_WP_loc,
		Location &	next_WP_loc,
		const Location &	current_loc,
		const float	wp_distance,
		int32_t &	target_altitude_offset_cm
	)

Definition at line 254 of file AP_Landing.cpp.

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check_if_need_to_abort()

void AP_Landing::check_if_need_to_abort

(

const AP_Vehicle::FixedWing::Rangefinder_State &

rangefinder_state

)

constrain_roll()

int32_t AP_Landing::constrain_roll	(	const int32_t	desired_roll_cd,
		const int32_t	level_roll_limit_cd
	)

Definition at line 454 of file AP_Landing.cpp.

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do_land()

void AP_Landing::do_land	(	const AP_Mission::Mission_Command &	cmd,
		const float	relative_altitude
	)

Definition at line 173 of file AP_Landing.cpp.

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FUNCTOR_TYPEDEF() [1/6]

AP_Landing::FUNCTOR_TYPEDEF	(	set_target_altitude_proportion_fn_t	,
		void	,
		const Location &	,
		float
	)

FUNCTOR_TYPEDEF() [2/6]

AP_Landing::FUNCTOR_TYPEDEF	(	constrain_target_altitude_location_fn_t	,
		void	,
		const Location &	,
		const Location &
	)

FUNCTOR_TYPEDEF() [3/6]

AP_Landing::FUNCTOR_TYPEDEF	(	adjusted_altitude_cm_fn_t	,
		int32_t
	)

FUNCTOR_TYPEDEF() [4/6]

AP_Landing::FUNCTOR_TYPEDEF	(	adjusted_relative_altitude_cm_fn_t	,
		int32_t
	)

FUNCTOR_TYPEDEF() [5/6]

AP_Landing::FUNCTOR_TYPEDEF	(	disarm_if_autoland_complete_fn_t	,
		void
	)

FUNCTOR_TYPEDEF() [6/6]

AP_Landing::FUNCTOR_TYPEDEF	(	update_flight_stage_fn_t	,
		void
	)

get_abort_throttle_enable()

int8_t AP_Landing::get_abort_throttle_enable ( void  ) const

inline

Definition at line 96 of file AP_Landing.h.

get_disarm_delay()

int8_t AP_Landing::get_disarm_delay ( void  ) const

inline

Definition at line 94 of file AP_Landing.h.

get_flap_percent()

int8_t AP_Landing::get_flap_percent ( void  ) const

inline

Definition at line 97 of file AP_Landing.h.

get_flare_sec()

float AP_Landing::get_flare_sec ( void  ) const

inline

Definition at line 93 of file AP_Landing.h.

Referenced by AP_TECS::update_pitch_throttle().

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get_pid_info()

const DataFlash_Class::PID_Info * AP_Landing::get_pid_info

(

void

)

const

Definition at line 368 of file AP_Landing.cpp.

Referenced by set_initial_slope().

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get_pitch_cd()

int16_t AP_Landing::get_pitch_cd ( void  ) const

inline

Definition at line 92 of file AP_Landing.h.

Referenced by AP_TECS::update_pitch_throttle().

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get_target_airspeed_cm()

int32_t AP_Landing::get_target_airspeed_cm

(

void

)

Definition at line 511 of file AP_Landing.cpp.

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get_target_altitude_location()

bool AP_Landing::get_target_altitude_location

(

Location &

location

)

Definition at line 466 of file AP_Landing.cpp.

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get_then_servos_neutral()

int8_t AP_Landing::get_then_servos_neutral ( void  ) const

inline

Definition at line 95 of file AP_Landing.h.

get_throttle_slewrate()

int8_t AP_Landing::get_throttle_slewrate ( void  ) const

inline

Definition at line 98 of file AP_Landing.h.

handle_flight_stage_change()

void AP_Landing::handle_flight_stage_change

(

const bool

_in_landing_stage

)

Definition at line 554 of file AP_Landing.cpp.

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head_wind()

float AP_Landing::head_wind

(

void

)

Definition at line 497 of file AP_Landing.cpp.

Referenced by type_slope_get_target_airspeed_cm().

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is_commanded_go_around()

bool AP_Landing::is_commanded_go_around ( void  ) const

inline

Definition at line 99 of file AP_Landing.h.

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is_complete()

bool AP_Landing::is_complete

(

void

)

const

Definition at line 565 of file AP_Landing.cpp.

Referenced by is_commanded_go_around().

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is_expecting_impact()

bool AP_Landing::is_expecting_impact

(

void

)

const

Definition at line 336 of file AP_Landing.cpp.

Referenced by set_initial_slope().

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is_flaring()

bool AP_Landing::is_flaring

(

void

)

const

Definition at line 281 of file AP_Landing.cpp.

Referenced by AP_TECS::_detect_underspeed(), AP_TECS::_update_height_demand(), AP_TECS::_update_pitch(), and AP_TECS::update_pitch_throttle().

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is_flying_forward()

bool AP_Landing::is_flying_forward

(

void

)

const

Definition at line 613 of file AP_Landing.cpp.

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is_ground_steering_allowed()

bool AP_Landing::is_ground_steering_allowed

(

void

)

const

Definition at line 318 of file AP_Landing.cpp.

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is_on_approach()

bool AP_Landing::is_on_approach

(

void

)

const

Definition at line 301 of file AP_Landing.cpp.

Referenced by AP_TECS::update_pitch_throttle().

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is_throttle_suppressed()

bool AP_Landing::is_throttle_suppressed

(

void

)

const

Definition at line 594 of file AP_Landing.cpp.

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Log()

void AP_Landing::Log

(

void

)

const

Definition at line 577 of file AP_Landing.cpp.

Referenced by do_land(), handle_flight_stage_change(), request_go_around(), restart_landing_sequence(), set_initial_slope(), type_slope_adjust_landing_slope_for_rangefinder_bump(), verify_abort_landing(), and verify_land().

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operator=()

AP_Landing& AP_Landing::operator= ( const AP_Landing &  )

delete

override_servos()

bool AP_Landing::override_servos

(

void

)

Definition at line 352 of file AP_Landing.cpp.

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request_go_around()

bool AP_Landing::request_go_around

(

void

)

Definition at line 535 of file AP_Landing.cpp.

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restart_landing_sequence()

bool AP_Landing::restart_landing_sequence

(

void

)

Definition at line 405 of file AP_Landing.cpp.

Referenced by verify_abort_landing().

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send_landing_message()

bool AP_Landing::send_landing_message

(

mavlink_channel_t

chan

)

Definition at line 267 of file AP_Landing.cpp.

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set_initial_slope()

void AP_Landing::set_initial_slope ( void  )

inline

Definition at line 101 of file AP_Landing.h.

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setup_landing_glide_slope()

void AP_Landing::setup_landing_glide_slope	(	const Location &	prev_WP_loc,
		const Location &	next_WP_loc,
		const Location &	current_loc,
		int32_t &	target_altitude_offset_cm
	)

Definition at line 388 of file AP_Landing.cpp.

Referenced by type_slope_adjust_landing_slope_for_rangefinder_bump().

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terminate()

bool AP_Landing::terminate

(

void

)

Definition at line 632 of file AP_Landing.cpp.

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type_slope_adjust_landing_slope_for_rangefinder_bump()

void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump ( AP_Vehicle::FixedWing::Rangefinder_State &  rangefinder_state, Location &  prev_WP_loc, Location &  next_WP_loc, const Location &  current_loc, const float  wp_distance, int32_t &  target_altitude_offset_cm  )

private

Definition at line 160 of file AP_Landing_Slope.cpp.

Referenced by adjust_landing_slope_for_rangefinder_bump().

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type_slope_check_if_need_to_abort()

void AP_Landing::type_slope_check_if_need_to_abort ( const AP_Vehicle::FixedWing::Rangefinder_State &  rangefinder_state )

private

type_slope_constrain_roll()

int32_t AP_Landing::type_slope_constrain_roll ( const int32_t  desired_roll_cd, const int32_t  level_roll_limit_cd  )

private

Definition at line 348 of file AP_Landing_Slope.cpp.

Referenced by constrain_roll().

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type_slope_do_land()

void AP_Landing::type_slope_do_land ( const AP_Mission::Mission_Command &  cmd, const float  relative_altitude  )

private

Definition at line 24 of file AP_Landing_Slope.cpp.

Referenced by do_land().

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type_slope_get_target_airspeed_cm()

int32_t AP_Landing::type_slope_get_target_airspeed_cm ( void  )

private

Definition at line 312 of file AP_Landing_Slope.cpp.

Referenced by get_target_airspeed_cm().

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type_slope_is_complete()

bool AP_Landing::type_slope_is_complete ( void  ) const

private

Definition at line 374 of file AP_Landing_Slope.cpp.

Referenced by is_complete().

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type_slope_is_expecting_impact()

bool AP_Landing::type_slope_is_expecting_impact ( void  ) const

private

Definition at line 368 of file AP_Landing_Slope.cpp.

Referenced by is_expecting_impact().

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type_slope_is_flaring()

bool AP_Landing::type_slope_is_flaring ( void  ) const

private

Definition at line 356 of file AP_Landing_Slope.cpp.

Referenced by is_flaring().

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type_slope_is_on_approach()

bool AP_Landing::type_slope_is_on_approach ( void  ) const

private

Definition at line 362 of file AP_Landing_Slope.cpp.

Referenced by is_ground_steering_allowed(), is_on_approach(), and type_slope_verify_land().

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type_slope_is_throttle_suppressed()

bool AP_Landing::type_slope_is_throttle_suppressed ( void  ) const

private

Definition at line 392 of file AP_Landing_Slope.cpp.

Referenced by is_throttle_suppressed().

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type_slope_log()

void AP_Landing::type_slope_log ( void  ) const

private

Definition at line 379 of file AP_Landing_Slope.cpp.

Referenced by Log().

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type_slope_request_go_around()

bool AP_Landing::type_slope_request_go_around ( void  )

private

Definition at line 210 of file AP_Landing_Slope.cpp.

Referenced by request_go_around().

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type_slope_setup_landing_glide_slope()

void AP_Landing::type_slope_setup_landing_glide_slope ( const Location &  prev_WP_loc, const Location &  next_WP_loc, const Location &  current_loc, int32_t &  target_altitude_offset_cm  )

private

Definition at line 225 of file AP_Landing_Slope.cpp.

Referenced by setup_landing_glide_slope().

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type_slope_verify_abort_landing()

void AP_Landing::type_slope_verify_abort_landing ( const Location &  prev_WP_loc, Location &  next_WP_loc, bool &  throttle_suppressed  )

private

Definition at line 36 of file AP_Landing_Slope.cpp.

Referenced by verify_abort_landing().

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type_slope_verify_land()

bool AP_Landing::type_slope_verify_land ( const Location &  prev_WP_loc, Location &  next_WP_loc, const Location &  current_loc, const float  height, const float  sink_rate, const float  wp_proportion, const uint32_t  last_flying_ms, const bool  is_armed, const bool  is_flying, const bool  rangefinder_state_in_range  )

private

Definition at line 49 of file AP_Landing_Slope.cpp.

Referenced by verify_land().

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verify_abort_landing()

bool AP_Landing::verify_abort_landing	(	const Location &	prev_WP_loc,
		Location &	next_WP_loc,
		const Location &	current_loc,
		const int32_t	auto_state_takeoff_altitude_rel_cm,
		bool &	throttle_suppressed
	)

Definition at line 224 of file AP_Landing.cpp.

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verify_land()

bool AP_Landing::verify_land	(	const Location &	prev_WP_loc,
		Location &	next_WP_loc,
		const Location &	current_loc,
		const float	height,
		const float	sink_rate,
		const float	wp_proportion,
		const uint32_t	last_flying_ms,
		const bool	is_armed,
		const bool	is_flying,
		const bool	rangefinder_state_in_range
	)

Definition at line 198 of file AP_Landing.cpp.

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wind_alignment()

float AP_Landing::wind_alignment

(

const float

heading_deg

)

Definition at line 487 of file AP_Landing.cpp.

Referenced by head_wind().

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Friends And Related Function Documentation

AP_Landing_Deepstall

friend class AP_Landing_Deepstall

friend

Definition at line 29 of file AP_Landing.h.

Member Data Documentation

abort_throttle_enable

AP_Int8 AP_Landing::abort_throttle_enable

private

Definition at line 151 of file AP_Landing.h.

Referenced by get_abort_throttle_enable().

adjusted_altitude_cm_fn

adjusted_altitude_cm_fn_t AP_Landing::adjusted_altitude_cm_fn

private

Definition at line 133 of file AP_Landing.h.

Referenced by type_slope_adjust_landing_slope_for_rangefinder_bump().

adjusted_relative_altitude_cm_fn

adjusted_relative_altitude_cm_fn_t AP_Landing::adjusted_relative_altitude_cm_fn

private

Definition at line 134 of file AP_Landing.h.

Referenced by verify_abort_landing().

ahrs

AP_AHRS& AP_Landing::ahrs

private

Definition at line 125 of file AP_Landing.h.

Referenced by AP_Landing_Deepstall::build_approach_path(), head_wind(), AP_Landing_Deepstall::override_servos(), AP_Landing_Deepstall::request_go_around(), AP_Landing_Deepstall::terminate(), type_slope_setup_landing_glide_slope(), AP_Landing_Deepstall::update_steering(), AP_Landing_Deepstall::verify_breakout(), AP_Landing_Deepstall::verify_land(), and wind_alignment().

alt_offset

float AP_Landing::alt_offset

Definition at line 107 of file AP_Landing.h.

Referenced by type_slope_adjust_landing_slope_for_rangefinder_bump(), and type_slope_log().

aparm

AP_Vehicle::FixedWing& AP_Landing::aparm

private

Definition at line 129 of file AP_Landing.h.

Referenced by AP_Landing_Deepstall::build_approach_path(), get_target_airspeed_cm(), AP_Landing_Deepstall::get_target_airspeed_cm(), type_slope_get_target_airspeed_cm(), type_slope_verify_land(), and AP_Landing_Deepstall::verify_land().

commanded_go_around

bool AP_Landing::commanded_go_around

Definition at line 112 of file AP_Landing.h.

Referenced by AP_Landing_Deepstall::request_go_around().

constrain_target_altitude_location_fn

constrain_target_altitude_location_fn_t AP_Landing::constrain_target_altitude_location_fn

private

Definition at line 132 of file AP_Landing.h.

Referenced by type_slope_setup_landing_glide_slope().

deepstall

AP_Landing_Deepstall AP_Landing::deepstall

private

Definition at line 139 of file AP_Landing.h.

Referenced by do_land(), get_pid_info(), get_target_airspeed_cm(), get_target_altitude_location(), is_flying_forward(), is_on_approach(), is_throttle_suppressed(), Log(), override_servos(), request_go_around(), send_landing_message(), terminate(), verify_abort_landing(), and verify_land().

disarm_delay

AP_Int8 AP_Landing::disarm_delay

private

Definition at line 149 of file AP_Landing.h.

Referenced by get_disarm_delay().

disarm_if_autoland_complete_fn

disarm_if_autoland_complete_fn_t AP_Landing::disarm_if_autoland_complete_fn

private

Definition at line 135 of file AP_Landing.h.

Referenced by type_slope_verify_land(), and AP_Landing_Deepstall::verify_land().

flags

struct { ... } AP_Landing::flags

Referenced by do_land(), get_target_airspeed_cm(), get_target_altitude_location(), handle_flight_stage_change(), is_commanded_go_around(), is_expecting_impact(), is_flaring(), is_flying_forward(), is_ground_steering_allowed(), is_on_approach(), is_throttle_suppressed(), override_servos(), AP_Landing_Deepstall::request_go_around(), send_landing_message(), AP_Landing_Deepstall::terminate(), type_slope_adjust_landing_slope_for_rangefinder_bump(), type_slope_log(), and type_slope_request_go_around().

flap_percent

AP_Int8 AP_Landing::flap_percent

private

Definition at line 152 of file AP_Landing.h.

Referenced by get_flap_percent().

flare_alt

AP_Float AP_Landing::flare_alt

private

Definition at line 142 of file AP_Landing.h.

Referenced by type_slope_setup_landing_glide_slope(), and type_slope_verify_land().

flare_sec

AP_Float AP_Landing::flare_sec

private

Definition at line 143 of file AP_Landing.h.

Referenced by get_flare_sec(), type_slope_setup_landing_glide_slope(), and type_slope_verify_land().

has_aborted_due_to_slope_recalc

bool AP_Landing::has_aborted_due_to_slope_recalc

Definition at line 169 of file AP_Landing.h.

in_progress

bool AP_Landing::in_progress

Definition at line 115 of file AP_Landing.h.

Referenced by AP_Landing_Deepstall::terminate().

initial_slope

float AP_Landing::initial_slope

private

Definition at line 119 of file AP_Landing.h.

Referenced by set_initial_slope(), type_slope_adjust_landing_slope_for_rangefinder_bump(), type_slope_do_land(), and type_slope_log().

mission

AP_Mission& AP_Landing::mission

private

Definition at line 124 of file AP_Landing.h.

Referenced by restart_landing_sequence(), type_slope_verify_land(), and verify_abort_landing().

nav_controller

AP_Navigation* AP_Landing::nav_controller

private

Definition at line 127 of file AP_Landing.h.

Referenced by AP_Landing_Deepstall::build_approach_path(), type_slope_verify_abort_landing(), type_slope_verify_land(), AP_Landing_Deepstall::verify_abort_landing(), and AP_Landing_Deepstall::verify_land().

pitch_cd

AP_Int16 AP_Landing::pitch_cd

private

Definition at line 141 of file AP_Landing.h.

Referenced by get_pitch_cd().

post_stats

bool AP_Landing::post_stats

Definition at line 167 of file AP_Landing.h.

pre_flare_airspeed

AP_Float AP_Landing::pre_flare_airspeed

private

Definition at line 144 of file AP_Landing.h.

Referenced by AP_Landing_Deepstall::get_target_airspeed_cm(), type_slope_get_target_airspeed_cm(), and type_slope_verify_land().

pre_flare_alt

AP_Float AP_Landing::pre_flare_alt

private

Definition at line 145 of file AP_Landing.h.

Referenced by type_slope_verify_land().

pre_flare_sec

AP_Float AP_Landing::pre_flare_sec

private

Definition at line 146 of file AP_Landing.h.

Referenced by type_slope_verify_land().

set_target_altitude_proportion_fn

set_target_altitude_proportion_fn_t AP_Landing::set_target_altitude_proportion_fn

private

Definition at line 131 of file AP_Landing.h.

Referenced by type_slope_setup_landing_glide_slope().

slope

float AP_Landing::slope

private

Definition at line 122 of file AP_Landing.h.

Referenced by set_initial_slope(), type_slope_adjust_landing_slope_for_rangefinder_bump(), type_slope_do_land(), type_slope_log(), and type_slope_setup_landing_glide_slope().

slope_recalc_shallow_threshold

AP_Float AP_Landing::slope_recalc_shallow_threshold

private

Definition at line 147 of file AP_Landing.h.

Referenced by type_slope_adjust_landing_slope_for_rangefinder_bump().

slope_recalc_steep_threshold_to_abort

AP_Float AP_Landing::slope_recalc_steep_threshold_to_abort

private

Definition at line 148 of file AP_Landing.h.

Referenced by type_slope_adjust_landing_slope_for_rangefinder_bump().

SpdHgt_Controller

AP_SpdHgtControl* AP_Landing::SpdHgt_Controller

private

Definition at line 126 of file AP_Landing.h.

Referenced by get_target_airspeed_cm(), type_slope_get_target_airspeed_cm(), and type_slope_setup_landing_glide_slope().

then_servos_neutral

AP_Int8 AP_Landing::then_servos_neutral

private

Definition at line 150 of file AP_Landing.h.

Referenced by get_then_servos_neutral().

throttle_slewrate

AP_Int8 AP_Landing::throttle_slewrate

private

Definition at line 153 of file AP_Landing.h.

Referenced by get_throttle_slewrate().

type

AP_Int8 AP_Landing::type

private

Definition at line 154 of file AP_Landing.h.

Referenced by adjust_landing_slope_for_rangefinder_bump(), constrain_roll(), do_land(), get_pid_info(), get_target_airspeed_cm(), get_target_altitude_location(), is_complete(), is_expecting_impact(), is_flaring(), is_flying_forward(), is_ground_steering_allowed(), is_on_approach(), is_throttle_suppressed(), Log(), override_servos(), request_go_around(), send_landing_message(), setup_landing_glide_slope(), terminate(), verify_abort_landing(), and verify_land().

type_slope_flags

struct { ... } AP_Landing::type_slope_flags

Referenced by type_slope_adjust_landing_slope_for_rangefinder_bump(), type_slope_do_land(), type_slope_log(), and type_slope_verify_land().

type_slope_stage

enum { ... } AP_Landing::type_slope_stage

Referenced by type_slope_constrain_roll(), type_slope_do_land(), type_slope_get_target_airspeed_cm(), type_slope_is_complete(), type_slope_is_expecting_impact(), type_slope_is_flaring(), type_slope_is_on_approach(), type_slope_is_throttle_suppressed(), type_slope_log(), and type_slope_verify_land().

update_flight_stage_fn

update_flight_stage_fn_t AP_Landing::update_flight_stage_fn

private

Definition at line 136 of file AP_Landing.h.

Referenced by restart_landing_sequence().

var_info

const AP_Param::GroupInfo AP_Landing::var_info

static

Definition at line 90 of file AP_Landing.h.

Referenced by AP_Landing().

---

The documentation for this class was generated from the following files:

• libraries/AP_Landing/AP_Landing.h
• libraries/AP_Landing/AP_Landing.cpp
• libraries/AP_Landing/AP_Landing_Slope.cpp