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Implement forced VTOL landing

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This commit is contained in:
sander
2016-04-02 21:29:25 +01:00
committed by Lorenz Meier
parent a713fd4197
commit 8d8c3f9683
3 changed files with 13 additions and 1 deletions
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src/modules/navigator/mission.cpp
+3 -1
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@@ -41,6 +41,7 @@
* @author Ban Siesta <bansiesta@gmail.com>
* @author Simon Wilks <simon@uaventure.com>
* @author Andreas Antener <andreas@uaventure.com>
* @author Sander Smeets <sander@droneslab.com>
*/
#include <sys/types.h>
@@ -73,6 +74,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
_param_dist_1wp(this, "MIS_DIST_1WP", false),
_param_altmode(this, "MIS_ALTMODE", false),
_param_yawmode(this, "MIS_YAWMODE", false),
_param_force_vtol(this, "VT_FORCE_VTOL", false),
_onboard_mission{},
_offboard_mission{},
_current_onboard_mission_index(-1),
@@ -684,7 +686,7 @@ Mission::do_need_takeoff()
bool
Mission::do_need_move_to_land()
{
if(_mission_item.nav_cmd == NAV_CMD_VTOL_LAND){
if(_mission_item.nav_cmd == NAV_CMD_VTOL_LAND || (_mission_item.nav_cmd == NAV_CMD_LAND && _param_force_vtol.get())){
struct vehicle_command_s cmd = {};
cmd.command = NAV_CMD_DO_VTOL_TRANSITION;
cmd.param1 = vehicle_status_s::VEHICLE_VTOL_STATE_MC;
src/modules/navigator/mission.h
+1
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@@ -218,6 +218,7 @@ private:
control::BlockParamFloat _param_dist_1wp;
control::BlockParamInt _param_altmode;
control::BlockParamInt _param_yawmode;
control::BlockParamInt _param_force_vtol;
struct mission_s _onboard_mission;
struct mission_s _offboard_mission;
src/modules/vtol_att_control/vtol_att_control_params.c
+9
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@@ -311,3 +311,12 @@ PARAM_DEFINE_FLOAT(VT_TRANS_TIMEOUT, 15.0f);
* @group VTOL Attitude Control
*/
PARAM_DEFINE_FLOAT(VT_TRANS_MIN_TM, 2.0f);
/**
* Force VTOL mode takeoff and land
*
* @min 0
* @max 1
* @group VTOL Attitude Control
*/
PARAM_DEFINE_INT32(VT_FORCE_VTOL, 0);