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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/navigator_main.cpp
+2 -2
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@@ -563,8 +563,8 @@ Navigator::run()
}
if (!rtl_activated && _rtl.getClimbAndReturnDone() && get_mission_start_land_available()) {
if (!rtl_activated && !_rtl.denyMissionLanding() && _rtl.getClimbAndReturnDone()
&& get_mission_start_land_available()) {
_mission.set_execution_mode(mission_result_s::MISSION_EXECUTION_MODE_FAST_FORWARD);
if (!getMissionLandingInProgress() && _vstatus.arming_state == vehicle_status_s::ARMING_STATE_ARMED