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do mission notifications for landing, switch to idle setpoint when landed

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This commit is contained in:
Andreas Antener 2015-12-20 17:41:21 +01:00 committed by Lorenz Meier
parent 05a73d2821
commit fe90e7882b
1 changed files with 11 additions and 1 deletions
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12
src/modules/navigator/land.cpp
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@ -74,6 +74,10 @@ Land::on_activation()
{
/* set current mission item to Land */
set_land_item(&_mission_item, true);
_navigator->get_mission_result()->reached = false;
_navigator->get_mission_result()->finished = false;
_navigator->set_mission_result_updated();
reset_mission_item_reached();
/* convert mission item to current setpoint */
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
@ -89,7 +93,13 @@ Land::on_activation()
void
Land::on_active()
{
if (is_mission_item_reached()) {
if (is_mission_item_reached() && !_navigator->get_mission_result()->finished) {
_navigator->get_mission_result()->finished = true;
_navigator->set_mission_result_updated();
set_idle_item(&_mission_item);
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current);
_navigator->set_position_setpoint_triplet_updated();
}
}