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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/navigator/navigator_main.cpp
+8 -8
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@@ -481,15 +481,15 @@ Navigator::task_main()
int land_start = _mission.find_offboard_land_start();
if (land_start != -1) {
vehicle_command_s vcmd = {};
vcmd.target_system = get_vstatus()->system_id;
vcmd.target_component = get_vstatus()->component_id;
vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
vcmd.param1 = land_start;
vcmd.param2 = 0;
vehicle_command_s cmd_mission_start = {};
cmd_mission_start.timestamp = hrt_absolute_time();
cmd_mission_start.target_system = get_vstatus()->system_id;
cmd_mission_start.target_component = get_vstatus()->component_id;
cmd_mission_start.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
cmd_mission_start.param1 = land_start;
cmd_mission_start.param2 = 0;
vcmd.timestamp = hrt_absolute_time();
publish_vehicle_cmd(vcmd);
publish_vehicle_cmd(cmd_mission_start);
} else {
PX4_WARN("planned landing not available");