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RTL optionally use planned mission landing (#8487)

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- adds new RTL_LAND_TYPE parameter
This commit is contained in:
Daniel Agar
2018-01-04 23:42:01 -05:00
committed by GitHub
parent f3bd241dbe
commit 545f8c4452
9 changed files with 141 additions and 53 deletions
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src/modules/navigator/mission_block.cpp
-16
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@@ -664,22 +664,6 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_current_position_item(struct mission_item_s *item)
{
item->nav_cmd = NAV_CMD_WAYPOINT;
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->altitude_is_relative = false;
item->altitude = _navigator->get_global_position()->alt;
item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius();
item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f;
item->autocontinue = true;
item->origin = ORIGIN_ONBOARD;
}
void
MissionBlock::set_idle_item(struct mission_item_s *item)
{