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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); plane.is_land_command(mission_id);
if (is_in_landing) { if (is_in_landing) {
// fly a user planned abort pattern if available // 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; 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: case MAV_CMD_DO_LAND_START:
// attempt to switch to next DO_LAND_START command in the mission // 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); plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
return MAV_RESULT_ACCEPTED; 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; already_landing = true;
} }
#endif #endif
if (!already_landing) { if (!already_landing && plane.have_position) {
// never stop a landing if we were already committed // 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 // continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true); plane.mission.set_in_landing_sequence_flag(true);
break; 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); plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE);
break; break;
} }
@ -293,7 +293,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
#endif #endif
if (!already_landing) { if (!already_landing) {
// never stop a landing if we were already committed // 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 // continue mission as it will reach a landing in less distance
plane.mission.set_in_landing_sequence_flag(true); plane.mission.set_in_landing_sequence_flag(true);
break; break;

2
ArduPlane/mode_rtl.cpp
View File

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