From 0d8ba587caf287ffaf2a8a95936c0c9762d6eb11 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 29 Nov 2023 15:43:51 +0100 Subject: [PATCH] Mission: set gimbal to neutral before landing item To reduce risk of damage during landing. Signed-off-by: Silvan Fuhrer --- src/modules/navigator/mission_base.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 23e4d7f4d3..c0706a93f5 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -619,6 +619,11 @@ void MissionBase::handleLanding(WorkItemType &new_work_item_type, mission_item_s // if the vehicle drifted off the path during back-transition it should just go straight to the landing point _navigator->reset_position_setpoint(pos_sp_triplet->previous); + // set gimbal to neutral position (level with horizon) to reduce change of damage on landing + _navigator->acquire_gimbal_control(); + _navigator->set_gimbal_neutral(); + _navigator->release_gimbal_control(); + } else { if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) {