ArduPlane: change namespace of MultiCopter and FixedWing params

this stops the libraries knowing anything about AP_Vehicle

ArduPlane/ArduPlane.cpp

@@ -479,7 +479,7 @@ void Plane::update_fly_forward(void)
     }
 #endif
 
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
+    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
         ahrs.set_fly_forward(landing.is_flying_forward());
         return;
     }
@@ -490,15 +490,15 @@ void Plane::update_fly_forward(void)
 /*
   set the flight stage
  */
-void Plane::set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs)
+void Plane::set_flight_stage(AP_FixedWing::FlightStage fs)
 {
     if (fs == flight_stage) {
         return;
     }
 
-    landing.handle_flight_stage_change(fs == AP_Vehicle::FixedWing::FLIGHT_LAND);
+    landing.handle_flight_stage_change(fs == AP_FixedWing::FlightStage::LAND);
 
-    if (fs == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
+    if (fs == AP_FixedWing::FlightStage::ABORT_LANDING) {
         gcs().send_text(MAV_SEVERITY_NOTICE, "Landing aborted, climbing to %dm",
                         int(auto_state.takeoff_altitude_rel_cm/100));
     }
@@ -546,7 +546,8 @@ void Plane::update_alt()
     if (control_mode->does_auto_throttle() && !throttle_suppressed) {
 
         float distance_beyond_land_wp = 0;
-        if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND && current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
+        if (flight_stage == AP_FixedWing::FlightStage::LAND &&
+            current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
             distance_beyond_land_wp = current_loc.get_distance(next_WP_loc);
         }
 
@@ -580,49 +581,49 @@ void Plane::update_flight_stage(void)
         if (control_mode == &mode_auto) {
 #if HAL_QUADPLANE_ENABLED
             if (quadplane.in_vtol_auto()) {
-                set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
+                set_flight_stage(AP_FixedWing::FlightStage::VTOL);
                 return;
             }
 #endif
             if (auto_state.takeoff_complete == false) {
-                set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_TAKEOFF);
+                set_flight_stage(AP_FixedWing::FlightStage::TAKEOFF);
                 return;
             } else if (mission.get_current_nav_cmd().id == MAV_CMD_NAV_LAND) {
-                if (landing.is_commanded_go_around() || flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
+                if (landing.is_commanded_go_around() || flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
                     // abort mode is sticky, it must complete while executing NAV_LAND
-                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
+                    set_flight_stage(AP_FixedWing::FlightStage::ABORT_LANDING);
                 } else if (landing.get_abort_throttle_enable() && get_throttle_input() >= 90 &&
                            landing.request_go_around()) {
                     gcs().send_text(MAV_SEVERITY_INFO,"Landing aborted via throttle");
-                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND);
+                    set_flight_stage(AP_FixedWing::FlightStage::ABORT_LANDING);
                 } else {
-                    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
+                    set_flight_stage(AP_FixedWing::FlightStage::LAND);
                 }
                 return;
             }
 #if HAL_QUADPLANE_ENABLED
             if (quadplane.in_assisted_flight()) {
-                set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
+                set_flight_stage(AP_FixedWing::FlightStage::VTOL);
                 return;
             }
 #endif
-            set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
+            set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
         } else if (control_mode != &mode_takeoff) {
             // If not in AUTO then assume normal operation for normal TECS operation.
             // This prevents TECS from being stuck in the wrong stage if you switch from
             // AUTO to, say, FBWB during a landing, an aborted landing or takeoff.
-            set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
+            set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
         }
         return;
     }
 #if HAL_QUADPLANE_ENABLED
     if (quadplane.in_vtol_mode() ||
         quadplane.in_assisted_flight()) {
-        set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_VTOL);
+        set_flight_stage(AP_FixedWing::FlightStage::VTOL);
         return;
     }
 #endif
-    set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_NORMAL);
+    set_flight_stage(AP_FixedWing::FlightStage::NORMAL);
 }
 
 
@@ -662,7 +663,7 @@ float Plane::tecs_hgt_afe(void)
       coming.
     */
     float hgt_afe;
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
+    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
         hgt_afe = height_above_target();
         hgt_afe -= rangefinder_correction();
     } else {

ArduPlane/Attitude.cpp

@@ -51,7 +51,7 @@ float Plane::calc_speed_scaler(void)
     }
     if (!plane.ahrs.airspeed_sensor_enabled()  && 
         (plane.g2.flight_options & FlightOptions::SURPRESS_TKOFF_SCALING) &&
-        (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
+        (plane.flight_stage == AP_FixedWing::FlightStage::TAKEOFF)) { //scaling is surpressed during climb phase of automatic takeoffs with no airspeed sensor being used due to problems with inaccurate airspeed estimates
         return MIN(speed_scaler, 1.0f) ;
     }
     return speed_scaler;
@@ -767,8 +767,8 @@ void Plane::calc_nav_yaw_ground(void)
 {
     if (gps.ground_speed() < 1 && 
         is_zero(get_throttle_input()) &&
-        flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF &&
-        flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
+        flight_stage != AP_FixedWing::FlightStage::TAKEOFF &&
+        flight_stage != AP_FixedWing::FlightStage::ABORT_LANDING) {
         // manual rudder control while still
         steer_state.locked_course = false;
         steer_state.locked_course_err = 0;
@@ -784,8 +784,8 @@ void Plane::calc_nav_yaw_ground(void)
     steer_state.last_steer_ms = now_ms;
 
     float steer_rate = (rudder_input()/4500.0f) * g.ground_steer_dps;
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_TAKEOFF ||
-        flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
+    if (flight_stage == AP_FixedWing::FlightStage::TAKEOFF ||
+        flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
         steer_rate = 0;
     }
     if (!is_zero(steer_rate)) {
@@ -794,8 +794,8 @@ void Plane::calc_nav_yaw_ground(void)
     } else if (!steer_state.locked_course) {
         // pilot has released the rudder stick or we are still - lock the course
         steer_state.locked_course = true;
-        if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_TAKEOFF &&
-            flight_stage != AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
+        if (flight_stage != AP_FixedWing::FlightStage::TAKEOFF &&
+            flight_stage != AP_FixedWing::FlightStage::ABORT_LANDING) {
             steer_state.locked_course_err = 0;
         }
     }
@@ -889,7 +889,7 @@ void Plane::calc_nav_roll()
 void Plane::adjust_nav_pitch_throttle(void)
 {
     int8_t throttle = throttle_percentage();
-    if (throttle >= 0 && throttle < aparm.throttle_cruise && flight_stage != AP_Vehicle::FixedWing::FLIGHT_VTOL) {
+    if (throttle >= 0 && throttle < aparm.throttle_cruise && flight_stage != AP_FixedWing::FlightStage::VTOL) {
         float p = (aparm.throttle_cruise - throttle) / (float)aparm.throttle_cruise;
         nav_pitch_cd -= g.stab_pitch_down * 100.0f * p;
     }

ArduPlane/GCS_Mavlink.cpp

@@ -357,7 +357,7 @@ void GCS_MAVLINK_Plane::send_pid_tuning()
         pid_info = &plane.steerController.get_pid_info();
         send_pid_info(pid_info, PID_TUNING_STEER, pid_info->actual);
     }
-    if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND)) {
+    if ((g.gcs_pid_mask & TUNING_BITS_LAND) && (plane.flight_stage == AP_FixedWing::FlightStage::LAND)) {
         AP_AHRS &ahrs = AP::ahrs();
         const Vector3f &gyro = ahrs.get_gyro();
         send_pid_info(plane.landing.get_pid_info(), PID_TUNING_LANDING, degrees(gyro.z));
@@ -1022,7 +1022,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
     case MAV_CMD_DO_GO_AROUND:
         {
             uint16_t mission_id = plane.mission.get_current_nav_cmd().id;
-            bool is_in_landing = (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) ||
+            bool is_in_landing = (plane.flight_stage == AP_FixedWing::FlightStage::LAND) ||
                                  (mission_id == MAV_CMD_NAV_LAND) ||
                                  (mission_id == MAV_CMD_NAV_VTOL_LAND);
             if (is_in_landing) {

ArduPlane/Plane.h

@@ -165,7 +165,7 @@ class Plane : public AP_Vehicle {
 private:
 
     // key aircraft parameters passed to multiple libraries
-    AP_Vehicle::FixedWing aparm;
+    AP_FixedWing aparm;
 
     // Global parameters are all contained within the 'g' and 'g2' classes.
     Parameters g;
@@ -191,7 +191,7 @@ class Plane : public AP_Vehicle {
     // flight modes convenience array
     AP_Int8 *flight_modes = &g.flight_mode1;
 
-    AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
+    AP_FixedWing::Rangefinder_State rangefinder_state;
 
 #if AP_RPM_ENABLED
     AP_RPM rpm_sensor;
@@ -561,7 +561,7 @@ class Plane : public AP_Vehicle {
 #if LANDING_GEAR_ENABLED == ENABLED
     // landing gear state
     struct {
-        AP_Vehicle::FixedWing::FlightStage last_flight_stage;
+        AP_FixedWing::FlightStage last_flight_stage;
     } gear;
 #endif
 
@@ -594,7 +594,7 @@ class Plane : public AP_Vehicle {
     int8_t  throttle_watt_limit_min; // for reverse thrust
     uint32_t throttle_watt_limit_timer_ms;
 
-    AP_Vehicle::FixedWing::FlightStage flight_stage = AP_Vehicle::FixedWing::FLIGHT_NORMAL;
+    AP_FixedWing::FlightStage flight_stage = AP_FixedWing::FlightStage::NORMAL;
 
     // probability of aircraft is currently in flight. range from 0 to
     // 1 where 1 is 100% sure we're in flight
@@ -1013,7 +1013,7 @@ class Plane : public AP_Vehicle {
     void update_control_mode(void);
     void update_fly_forward(void);
     void update_flight_stage();
-    void set_flight_stage(AP_Vehicle::FixedWing::FlightStage fs);
+    void set_flight_stage(AP_FixedWing::FlightStage fs);
 
     // navigation.cpp
     void loiter_angle_reset(void);

ArduPlane/altitude.cpp

@@ -448,7 +448,7 @@ void Plane::set_offset_altitude_location(const Location &start_loc, const Locati
     }
 #endif
 
-    if (flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
+    if (flight_stage != AP_FixedWing::FlightStage::LAND) {
         // if we are within GLIDE_SLOPE_MIN meters of the target altitude
         // then reset the offset to not use a glide slope. This allows for
         // more accurate flight of missions where the aircraft may lose or
@@ -539,7 +539,7 @@ float Plane::mission_alt_offset(void)
 {
     float ret = g.alt_offset;
     if (control_mode == &mode_auto &&
-            (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND || auto_state.wp_is_land_approach)) {
+            (flight_stage == AP_FixedWing::FlightStage::LAND || auto_state.wp_is_land_approach)) {
         // when landing after an aborted landing due to too high glide
         // slope we use an offset from the last landing attempt
         ret += landing.alt_offset;
@@ -641,7 +641,7 @@ float Plane::rangefinder_correction(void)
     }
 
     // for now we only support the rangefinder for landing 
-    bool using_rangefinder = (g.rangefinder_landing && flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND);
+    bool using_rangefinder = (g.rangefinder_landing && flight_stage == AP_FixedWing::FlightStage::LAND);
     if (!using_rangefinder) {
         return 0;
     }
@@ -657,7 +657,7 @@ void Plane::rangefinder_terrain_correction(float &height)
 {
 #if AP_TERRAIN_AVAILABLE
     if (!g.rangefinder_landing ||
-        flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND ||
+        flight_stage != AP_FixedWing::FlightStage::LAND ||
         !terrain_enabled_in_current_mode()) {
         return;
     }
@@ -707,7 +707,7 @@ void Plane::rangefinder_height_update(void)
         } else {
             rangefinder_state.in_range = true;
             bool flightstage_good_for_rangefinder_landing = false;
-            if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
+            if (flight_stage == AP_FixedWing::FlightStage::LAND) {
                 flightstage_good_for_rangefinder_landing = true;
             }
 #if HAL_QUADPLANE_ENABLED

ArduPlane/avoidance_adsb.cpp

@@ -27,7 +27,7 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob
     bool flightmode_prohibits_action = false;
     if (plane.control_mode == &plane.mode_manual ||
         (plane.control_mode == &plane.mode_auto && !plane.auto_state.takeoff_complete) ||
-        (plane.flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) || // TODO: consider allowing action during approach
+        (plane.flight_stage == AP_FixedWing::FlightStage::LAND) || // TODO: consider allowing action during approach
         plane.control_mode == &plane.mode_autotune) {
         flightmode_prohibits_action = true;
     }

ArduPlane/commands_logic.cpp

@@ -246,7 +246,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd)        // Ret
             return quadplane.verify_vtol_land();            
         }
 #endif
-        if (flight_stage == AP_Vehicle::FixedWing::FlightStage::FLIGHT_ABORT_LAND) {
+        if (flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
             return landing.verify_abort_landing(prev_WP_loc, next_WP_loc, current_loc, auto_state.takeoff_altitude_rel_cm, throttle_suppressed);
 
         } else {
@@ -413,9 +413,9 @@ void Plane::do_land(const AP_Mission::Mission_Command& cmd)
 
     landing.do_land(cmd, relative_altitude);
 
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_ABORT_LAND) {
+    if (flight_stage == AP_FixedWing::FlightStage::ABORT_LANDING) {
         // if we were in an abort we need to explicitly move out of the abort state, as it's sticky
-        set_flight_stage(AP_Vehicle::FixedWing::FLIGHT_LAND);
+        set_flight_stage(AP_FixedWing::FlightStage::LAND);
     }
 
 #if AP_FENCE_ENABLED

ArduPlane/events.cpp

@@ -4,7 +4,7 @@
 // for use in failsafe code.
 bool Plane::failsafe_in_landing_sequence() const
 {
-    if (flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND) {
+    if (flight_stage == AP_FixedWing::FlightStage::LAND) {
         return true;
     }
 #if HAL_QUADPLANE_ENABLED
@@ -238,7 +238,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             FALLTHROUGH;
 #endif // HAL_QUADPLANE_ENABLED
         case Failsafe_Action_Land: {
-            bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND;
+            bool already_landing = flight_stage == AP_FixedWing::FlightStage::LAND;
 #if HAL_QUADPLANE_ENABLED
             if (control_mode == &mode_qland || control_mode == &mode_loiter_qland) {
                 already_landing = true;
@@ -259,7 +259,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
             FALLTHROUGH;
         }
         case Failsafe_Action_RTL: {
-            bool already_landing = flight_stage == AP_Vehicle::FixedWing::FLIGHT_LAND;
+            bool already_landing = flight_stage == AP_FixedWing::FlightStage::LAND;
 #if HAL_QUADPLANE_ENABLED
             if (control_mode == &mode_qland || control_mode == &mode_loiter_qland ||
                 quadplane.in_vtol_land_sequence()) {