From b600e3ee933d2078966222182c18eda78774bb94 Mon Sep 17 00:00:00 2001 From: Nic Date: Wed, 23 Mar 2016 14:50:25 -0700 Subject: [PATCH] added descend into navigation using existing land helper, downstream logic handles ignoring position setpoints (despite being populated), tested with multirotor in gazebo --- src/modules/navigator/navigator_main.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 5349943958..78e9bca0fe 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -483,6 +483,10 @@ Navigator::task_main() _pos_sp_triplet_published_invalid_once = false; _navigation_mode = &_land; break; + case vehicle_status_s::NAVIGATION_STATE_DESCEND: + _pos_sp_triplet_published_invalid_once = false; + _navigation_mode = &_land; + break; case vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS: /* Use complex data link loss mode only when enabled via param * otherwise use rtl */