Line data    Source code

       1             : //
       2             : // functions to support precision landing
       3             : //
       4             : 
       5             : #include "Copter.h"
       6             : 
       7             : #if AC_PRECLAND_ENABLED
       8             : 
       9        1001 : void Copter::init_precland()
      10             : {
      11             :     // scheduler table specifies 400Hz, but we can call it no faster
      12             :     // than the scheduler loop rate:
      13        1001 :     copter.precland.init(MIN(400, scheduler.get_loop_rate_hz()));
      14        1001 : }
      15             : 
      16    30412448 : void Copter::update_precland()
      17             : {
      18             :     // alt will be unused if we pass false through as the second parameter:
      19    30412448 :     return precland.update(rangefinder_state.alt_glitch_protected_m * 100.0, rangefinder_alt_ok());
      20             : }
      21             : #endif