apply vtol_force_vtol

remove debug output

src/modules/navigator/mission.cpp

@@ -436,6 +436,12 @@ Mission::set_mission_items()
 
 	if (item_contains_position(&_mission_item)) {
 
+		/* force vtol land */
+		if(_mission_item.nav_cmd == NAV_CMD_LAND && _param_force_vtol.get()
+				&& !_navigator->get_vstatus()->is_rotary_wing){
+			_mission_item.nav_cmd = NAV_CMD_VTOL_LAND;
+		}
+
 		/* we have a new position item so set previous position setpoint to current */
 		set_previous_pos_setpoint();
 

src/modules/navigator/mission_block.cpp

@@ -110,15 +110,12 @@ MissionBlock::is_mission_item_reached()
 		case NAV_CMD_DO_VTOL_TRANSITION:
 			/*
 			 * We wait half a second to give the transition command time to propagate.
-			 * As soon as the timeout is over or when we're in transition mode let the mission continue.
+			 * Then monitor the transition status for completion.
 			 */
 			if (hrt_absolute_time() - _action_start > 500000 &&
 					!_navigator->get_vstatus()->in_transition_mode) {
 				_action_start = 0;
-
-				printf("transition reached \n");
 				return true;
-
 			} else {
 				return false;
 			}

src/modules/vtol_att_control/standard.cpp

@@ -143,6 +143,7 @@ void Standard::update_vtol_state()
 
 		} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
 			// transition to MC mode if transition time has passed
+			// XXX: base this on XY hold velocity of MC
 			if (hrt_elapsed_time(&_vtol_schedule.transition_start) >
 			    (_params_standard.back_trans_dur * 1000000.0f)) {
 				_vtol_schedule.flight_mode = MC_MODE;