From b0df7c7ccb4d0571d76f4214610c993e6c1ae272 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 29 Nov 2023 15:40:12 +0100 Subject: [PATCH] RTL/Land: set gimbal to neutral to reduce change of damage Signed-off-by: Silvan Fuhrer --- src/modules/navigator/land.cpp | 6 ++++++ src/modules/navigator/rtl.cpp | 5 +++++ 2 files changed, 11 insertions(+) diff --git a/src/modules/navigator/land.cpp b/src/modules/navigator/land.cpp index 8ff00d4485..ad242d10a3 100644 --- a/src/modules/navigator/land.cpp +++ b/src/modules/navigator/land.cpp @@ -65,6 +65,12 @@ Land::on_activation() // reset cruising speed to default _navigator->reset_cruising_speed(); + + // set gimbal to neutral position (level with horizon) to reduce change of damage on landing + _navigator->acquire_gimbal_control(); + _navigator->set_gimbal_neutral(); + _navigator->release_gimbal_control(); + } void diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index 922c02b9d0..6bac232f34 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -256,6 +256,11 @@ void RTL::on_activation() default: break; } + + // set gimbal to neutral position (level with horizon) to reduce change of damage on landing + _navigator->acquire_gimbal_control(); + _navigator->set_gimbal_neutral(); + _navigator->release_gimbal_control(); } void RTL::on_active()