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navigator: don't execute land pattern if vtol in rotary wing mode

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- if vtol and in rotary wing mode then don't execute the mission landing
because it's designed to be flow as a fixed wing
- if vtol and in rotary wing mode and mission land is available then fly directly
to landing point and don't go home!

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2021-01-04 11:58:16 +01:00
committed by Lorenz Meier
parent 6c3f413379
commit b63f756745
6 changed files with 73 additions and 29 deletions
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src/modules/navigator/mission.h
+8
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@@ -87,6 +87,10 @@ public:
bool get_mission_finished() const { return _mission_type == MISSION_TYPE_NONE; }
bool get_mission_changed() const { return _mission_changed ; }
bool get_mission_waypoints_changed() const { return _mission_waypoints_changed ; }
double get_landing_start_lat() { return _landing_start_lat; }
double get_landing_start_lon() { return _landing_start_lon; }
float get_landing_start_alt() { return _landing_start_alt; }
double get_landing_lat() { return _landing_lat; }
double get_landing_lon() { return _landing_lon; }
float get_landing_alt() { return _landing_alt; }
@@ -249,6 +253,10 @@ private:
// track location of planned mission landing
bool _land_start_available{false};
uint16_t _land_start_index{UINT16_MAX}; /**< index of DO_LAND_START, INVALID_DO_LAND_START if no planned landing */
double _landing_start_lat{0.0};
double _landing_start_lon{0.0};
float _landing_start_alt{0.0f};
double _landing_lat{0.0};
double _landing_lon{0.0};
float _landing_alt{0.0f};