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Land: use MIS_LND_ABRT_ALT also in non-mission Land

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As we don't know the landing point altitude in non-mission landings, assume
the worst case (abort right before touchdown) and thus always climb
MIS_LND_ABRT_ALT on triggering an abort.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-20 17:04:39 +01:00
parent c47210fc77
commit 37b6dccda9
1 changed files with 3 additions and 1 deletions
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src/modules/navigator/land.cpp
+3 -1
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@@ -106,7 +106,9 @@ Land::on_active()
vcmd.param2 = 1; vcmd.param2 = 1;
vcmd.param5 = _navigator->get_global_position()->lat; vcmd.param5 = _navigator->get_global_position()->lat;
vcmd.param6 = _navigator->get_global_position()->lon; vcmd.param6 = _navigator->get_global_position()->lon;
vcmd.param7 = _navigator->get_global_position()->alt; // as we don't know the landing point altitude assume the worst case (abort at 0m above ground),
// and thus always climb MIS_LND_ABRT_ALT
vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
_navigator->publish_vehicle_cmd(&vcmd); _navigator->publish_vehicle_cmd(&vcmd);
} }