ArduCopter: create land_complete callback on Mode

ArduCopter/land_detector.cpp

@@ -156,13 +156,9 @@ void Copter::set_land_complete(bool b)
 
     // tell AHRS flying state
     set_likely_flying(!b);
-
-    // trigger disarm-on-land if configured
-    bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
-    const bool mode_disarms_on_land = flightmode->allows_arming(AP_Arming::Method::LANDING) && !flightmode->has_manual_throttle();
 
-    if (ap.land_complete && motors->armed() && disarm_on_land_configured && mode_disarms_on_land) {
-        arming.disarm(AP_Arming::Method::LANDED);
+    if (b) {
+        flightmode->land_complete();
     }
 }
 

ArduCopter/mode.cpp

@@ -472,6 +472,31 @@ void Copter::notify_flight_mode() {
     notify.set_flight_mode_str(flightmode->name4());
 }
 
+// called when the land detector determines we are landed:
+void Mode::land_complete()
+{
+    // trigger disarm-on-land if configured
+    if ((g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) == 0) {
+        // not configured to disarm
+        return;
+    }
+
+    if (!motors->armed()) {
+        // not armed
+        return;
+    }
+
+    if (has_manual_throttle()) {
+        return;
+    }
+    // we should probably have a "allows_disarm(...)" callback
+    if (!allows_arming(AP_Arming::Method::LANDING)) {
+        return;
+    }
+
+    AP::arming().disarm(AP_Arming::Method::LANDED);
+}
+
 // get_pilot_desired_angle - transform pilot's roll or pitch input into a desired lean angle
 // returns desired angle in centi-degrees
 void Mode::get_pilot_desired_lean_angles(float &roll_out_cd, float &pitch_out_cd, float angle_max_cd, float angle_limit_cd) const

ArduCopter/mode.h

@@ -142,6 +142,9 @@ class Mode {
 
     virtual bool is_landing() const { return false; }
 
+    // called when the land detector determines we are landed:
+    void land_complete();
+
     // mode requires terrain to be present to be functional
     virtual bool requires_terrain_failsafe() const { return false; }