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navigator land abort use reposition (#7574)

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This commit is contained in:
Daniel Agar
2017-08-01 18:59:12 -04:00
committed by GitHub
parent 6bd4e84636
commit 9fb5c4f0e9
7 changed files with 51 additions and 43 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -8
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@@ -1466,15 +1466,12 @@ FixedwingPositionControl::handle_command()
{
if (_vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_GO_AROUND) {
// only abort landing before point of no return (horizontal and vertical)
if (_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if (_control_mode.flag_control_auto_enabled &&
_pos_sp_triplet.current.valid &&
_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
if (_land_noreturn_vertical) {
mavlink_log_info(&_mavlink_log_pub, "Landing, can't abort after flare");
} else {
_fw_pos_ctrl_status.abort_landing = true;
mavlink_log_info(&_mavlink_log_pub, "Landing, aborted");
}
_fw_pos_ctrl_status.abort_landing = true;
mavlink_log_critical(&_mavlink_log_pub, "Landing, aborted");
}
}
}