ArduCopter/precision_landing.cpp

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