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Mission: set gimbal to neutral before landing item

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To reduce risk of damage during landing.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-12-01 13:19:09 +01:00
parent 178ea132b6
commit 0d8ba587ca
1 changed files with 5 additions and 0 deletions
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src/modules/navigator/mission_base.cpp
+5
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@@ -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) {