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FWPositionController: add support for circular landings

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Add method for circular landing, that is used instead of the straight fixed-wing
landings in case the landing is not part of a mission landing.
Use straight landing if previous WP is valid, and the ciruclar otherwise.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-02-20 17:04:39 +01:00
parent 50d75c537e
commit c47210fc77
4 changed files with 266 additions and 18 deletions
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src/modules/navigator/land.cpp
+16
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@@ -94,4 +94,20 @@ Land::on_active()
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
}
/* check if landing needs to be aborted */
if (_navigator->abort_landing()) {
// send reposition cmd to get out of land mode (will loiter at current position and altitude)
vehicle_command_s vcmd = {};
vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
vcmd.param1 = -1;
vcmd.param2 = 1;
vcmd.param5 = _navigator->get_global_position()->lat;
vcmd.param6 = _navigator->get_global_position()->lon;
vcmd.param7 = _navigator->get_global_position()->alt;
_navigator->publish_vehicle_cmd(&vcmd);
}
}