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This commit is contained in:
Alessandro Simovic
2023-03-13 14:26:29 +01:00
parent a4596401cf
commit 68df294207
3 changed files with 51 additions and 51 deletions
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msg/PrecisionLandingStatus.msg
+6 -6
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@@ -1,9 +1,9 @@
uint8 PRECLAND_STATE_START = 0
uint8 PRECLAND_STATE_HORIZONTAL_APPROACH = 1
uint8 PRECLAND_STATE_DESCEND_ABOVE_TARGET = 2
uint8 PRECLAND_STATE_FINAL_APPROACH = 3
uint8 PRECLAND_STATE_SEARCH = 4
uint8 PRECLAND_STATE_FALLBACK = 5
uint8 PRECLAND_STATE_AUTORTL = 0 # Execute normal RTL logic until the target is spotted
uint8 PRECLAND_STATE_SEARCH = 1 # Drone is supposed to land at current location, but has not spotted the target yet. Wait at current location in hopes of spotting the target.
uint8 PRECLAND_STATE_MOVE_ABOVE_TARGET = 2 # Fly above target while maintaining RTL altitude
uint8 PRECLAND_STATE_DESCEND_ABOVE_TARGET = 3 # Drone is above target and descending. This state still expects to see the target.
uint8 PRECLAND_STATE_TOUCHING_DOWN = 4 # Same as descend, but if sight of target is lost, drone continues to land at last known location.
uint8 PRECLAND_STATE_FALLBACK = 5 # Fallback to conventional landing, either because of opportunistic precision landing or because maximum number of precland attempts were reached
uint64 timestamp # time since system start (microseconds)
uint8 precland_state # this flight-task's internal state