From 9ad39fec67c684ed09f26348768a494c53098ff8 Mon Sep 17 00:00:00 2001
From: sander <sander@droneslab.com>
Date: Sat, 6 Feb 2016 23:24:20 +0100
Subject: [PATCH] If VTOL then transition to RW before landing in RTL

---
 src/modules/navigator/mission_block.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 789945e4ac..be4dcad5f7 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -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 */