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Plane: pass current location to mission landing methods

This commit is contained in:
Iampete1 2024-03-27 17:58:24 +00:00 committed by Andrew Tridgell
parent 77ef4eb4e6
commit afec757c33
4 changed files with 7 additions and 7 deletions
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2
ArduPlane/ArduPlane.cpp
View File

@ -701,7 +701,7 @@ bool Plane::trigger_land_abort(const float climb_to_alt_m)
plane.is_land_command(mission_id);
if (is_in_landing) {
// fly a user planned abort pattern if available
if (plane.mission.jump_to_abort_landing_sequence()) {
if (plane.have_position && plane.mission.jump_to_abort_landing_sequence(plane.current_loc)) {
return true;
}

2
ArduPlane/GCS_Mavlink.cpp
View File

@ -1065,7 +1065,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission
if (plane.mission.jump_to_landing_sequence()) {
if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) {
plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED;
}

8
ArduPlane/events.cpp
View File

@ -269,14 +269,14 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
already_landing = true;
}
#endif
if (!already_landing) {
if (!already_landing && plane.have_position) {
// never stop a landing if we were already committed
if (plane.mission.is_best_land_sequence()) {
if (plane.mission.is_best_land_sequence(plane.current_loc)) {
// continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true);
break;
}
if (plane.mission.jump_to_landing_sequence()) {
if (plane.mission.jump_to_landing_sequence(plane.current_loc)) {
plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE);
break;
}
@ -293,7 +293,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
#endif
if (!already_landing) {
// never stop a landing if we were already committed
if (g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START && plane.mission.is_best_land_sequence()) {
if ((g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) && plane.have_position && plane.mission.is_best_land_sequence(plane.current_loc)) {
// continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true);
break;

2
ArduPlane/mode_rtl.cpp
View File

@ -102,7 +102,7 @@ void ModeRTL::navigate()
labs(plane.altitude_error_cm) < 1000))
{
// we've reached the RTL point, see if we have a landing sequence
if (plane.mission.jump_to_landing_sequence()) {
if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) {
// switch from RTL -> AUTO
plane.mission.set_force_resume(true);
if (plane.set_mode(plane.mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND)) {