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If VTOL then transition to RW before landing in RTL

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sander
2016-02-07 18:19:32 +01:00
committed by Lorenz Meier
parent 949b0738e1
commit 9ad39fec67
1 changed files with 15 additions and 0 deletions
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src/modules/navigator/mission_block.cpp
+15
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@@ -36,6 +36,7 @@
* Helper class to use mission items
*
* @author Julian Oes <julian@oes.ch>
* @author Sander Smeets <sander@droneslab.com>
*/
#include <sys/types.h>
@@ -374,6 +375,20 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float min_clearance,
void
MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_location)
{
/* VTOL transition to RW before landing */
if(_navigator->get_vstatus()->is_vtol){
struct vehicle_command_s cmd = {};
cmd.command = NAV_CMD_DO_VTOL_TRANSITION;
cmd.param1 = 3;
if (_cmd_pub != nullptr) {
orb_publish(ORB_ID(vehicle_command), _cmd_pub, &cmd);
} else {
_cmd_pub = orb_advertise(ORB_ID(vehicle_command), &cmd);
}
}
/* set the land item */
item->nav_cmd = NAV_CMD_LAND;
/* use current position */