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22 lines
519 B
C++
22 lines
519 B
C++
//
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// functions to support precision landing
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//
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#include "Copter.h"
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#if AC_PRECLAND_ENABLED
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void Copter::init_precland()
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{
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// scheduler table specifies 400Hz, but we can call it no faster
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// than the scheduler loop rate:
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copter.precland.init(MIN(400, scheduler.get_loop_rate_hz()));
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}
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void Copter::update_precland()
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{
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// alt will be unused if we pass false through as the second parameter:
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return precland.update(rangefinder_state.alt_glitch_protected_m * 100.0, rangefinder_alt_ok());
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}
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#endif
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