AP_Landing: move wind helper functions to AP_AHRS

magicrub · Dec 20, 2023 · b6b3b9d · b6b3b9d
1 parent cd72dcb
commit b6b3b9d
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Showing 3 changed files with 1 addition and 30 deletions.
diff --git a/libraries/AP_Landing/AP_Landing.cpp b/libraries/AP_Landing/AP_Landing.cpp
@@ -548,33 +548,6 @@ bool AP_Landing::get_target_altitude_location(Location &location)
     }
 }
 
-/*
- * Determine how aligned heading_deg is with the wind. Return result
- * is 1.0 when perfectly aligned heading into wind, -1 when perfectly
- * aligned with-wind, and zero when perfect cross-wind. There is no
- * distinction between a left or right cross-wind. Wind speed is ignored
- */
-float AP_Landing::wind_alignment(const float heading_deg)
-{
-    const Vector3f wind = ahrs.wind_estimate();
-    const float wind_heading_rad = atan2f(-wind.y, -wind.x);
-    return cosf(wind_heading_rad - radians(heading_deg));
-}
-
-/*
- * returns head-wind in m/s, 0 for tail-wind.
- */
-float AP_Landing::head_wind(void)
-{
-    const float alignment = wind_alignment(ahrs.yaw_sensor*0.01f);
-
-    if (alignment <= 0) {
-        return 0;
-    }
-
-    return alignment * ahrs.wind_estimate().length();
-}
-
 /*
  * returns target airspeed in cm/s depending on flight stage
  */

diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h
@@ -91,8 +91,6 @@ class AP_Landing {
 
     // helper functions
     bool restart_landing_sequence(void);
-    float wind_alignment(const float heading_deg);
-    float head_wind(void);
     int32_t get_target_airspeed_cm(void);
 
     // accessor functions for the params and states

diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp
@@ -368,7 +368,7 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
 
     // when landing, add half of head-wind.
     const float head_wind_comp = constrain_float(wind_comp, 0.0f, 100.0f)*0.01;
-    const int32_t head_wind_compensation_cm = head_wind() * head_wind_comp * 100;
+    const int32_t head_wind_compensation_cm = ahrs.head_wind() * head_wind_comp * 100;
 
     const uint32_t max_airspeed_cm = AP_Landing::allow_max_airspeed_on_land() ? aparm.airspeed_max*100 : aparm.airspeed_cruise_cm;