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Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms

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this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
This commit is contained in:
Andrew Tridgell 2022-05-17 08:10:29 +10:00 committed by Randy Mackay
parent 6634b0926e
commit 009f3e9ea8
2 changed files with 8 additions and 0 deletions
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2
ArduCopter/GCS_Mavlink.cpp
View File

@ -743,6 +743,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
{ {
switch(packet.command) { switch(packet.command) {
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF: { case MAV_CMD_NAV_TAKEOFF: {
// param3 : horizontal navigation by pilot acceptable // param3 : horizontal navigation by pilot acceptable
// param4 : yaw angle (not supported) // param4 : yaw angle (not supported)
@ -778,6 +779,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
} }
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:
if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) { if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;

6
ArduCopter/mode_auto.cpp
View File

@ -528,6 +528,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
/// ///
/// navigation commands /// navigation commands
/// ///
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF: // 22 case MAV_CMD_NAV_TAKEOFF: // 22
do_takeoff(cmd); do_takeoff(cmd);
break; break;
@ -536,6 +537,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
do_nav_wp(cmd); do_nav_wp(cmd);
break; break;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
do_land(cmd); do_land(cmd);
break; break;
@ -764,6 +766,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
// //
// navigation commands // navigation commands
// //
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
cmd_complete = verify_takeoff(); cmd_complete = verify_takeoff();
break; break;
@ -772,6 +775,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
cmd_complete = verify_nav_wp(cmd); cmd_complete = verify_nav_wp(cmd);
break; break;
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:
cmd_complete = verify_land(); cmd_complete = verify_land();
break; break;
@ -1284,10 +1288,12 @@ bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const
get_spline_from_cmd(next_cmd, default_loc, next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline); get_spline_from_cmd(next_cmd, default_loc, next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
return wp_nav->set_spline_destination_next_loc(next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline); return wp_nav->set_spline_destination_next_loc(next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
} }
case MAV_CMD_NAV_VTOL_LAND:
case MAV_CMD_NAV_LAND: case MAV_CMD_NAV_LAND:
// stop because we may change between rel,abs and terrain alt types // stop because we may change between rel,abs and terrain alt types
case MAV_CMD_NAV_LOITER_TURNS: case MAV_CMD_NAV_LOITER_TURNS:
case MAV_CMD_NAV_RETURN_TO_LAUNCH: case MAV_CMD_NAV_RETURN_TO_LAUNCH:
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_TAKEOFF: case MAV_CMD_NAV_TAKEOFF:
// always stop for RTL and takeoff commands // always stop for RTL and takeoff commands
default: default: