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RTL: enable precision landing at the end of RTL, configurable by parameter

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This commit is contained in:
Dusan Zivkovic
2020-05-29 09:11:01 +02:00
committed by Julian Oes
parent ed9e504695
commit a758ea1220
3 changed files with 41 additions and 1 deletions
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src/modules/navigator/rtl.cpp
+26
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@@ -52,6 +52,14 @@ RTL::RTL(Navigator *navigator) :
{
}
void
RTL::on_inactivation()
{
if (_navigator->get_precland()->is_activated()) {
_navigator->get_precland()->on_inactivation();
}
}
void
RTL::on_inactive()
{
@@ -223,6 +231,14 @@ RTL::on_active()
if (_rtl_state != RTL_STATE_LANDED && is_mission_item_reached()) {
advance_rtl();
set_rtl_item();
}
if (_rtl_state == RTL_STATE_LAND && _param_rtl_pld_md.get() > 0) {
_navigator->get_precland()->on_active();
} else if (_navigator->get_precland()->is_activated()) {
_navigator->get_precland()->on_inactivation();
}
}
@@ -389,6 +405,16 @@ RTL::set_rtl_item()
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD;
_mission_item.land_precision = _param_rtl_pld_md.get();
if (_mission_item.land_precision == 1) {
_navigator->get_precland()->set_mode(PrecLandMode::Opportunistic);
_navigator->get_precland()->on_activation();
} else if (_mission_item.land_precision == 2) {
_navigator->get_precland()->set_mode(PrecLandMode::Required);
_navigator->get_precland()->on_activation();
}
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL: land at destination");
break;