AP_Landing: add AutoLand mode

ArduPilot · Dec 11, 2024 · 68e88c7 · 68e88c7
1 parent 7e2d545
commit 68e88c7
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Showing 2 changed files with 14 additions and 0 deletions.
diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
@@ -463,6 +463,18 @@ void AP_Landing::setup_landing_glide_slope(const Location &prev_WP_loc, const Lo
     }
 }
 
+/*
+  reset landing state
+ */
+void AP_Landing::reset(void)
+{
+    initial_slope = 0;
+    slope = 0;
+    type_slope_flags.post_stats = false;
+    type_slope_flags.has_aborted_due_to_slope_recalc = false;
+    type_slope_stage = SlopeStage::NORMAL;
+}
+
 /*
      Restart a landing by first checking for a DO_LAND_START and
      jump there. Otherwise decrement waypoint so we would re-start

diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
@@ -66,6 +66,8 @@ class AP_Landing {
 
     void convert_parameters(void);
 
+    void reset(void);
+
     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);