mirror of https://github.com/ArduPilot/ardupilot
Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms
this allows is_takeoff_next() to be in common, and reduces confusion if user selects VTOL_TAKEOFF in a GCS mission editor
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@ -743,6 +743,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
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{
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switch(packet.command) {
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case MAV_CMD_NAV_VTOL_TAKEOFF:
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case MAV_CMD_NAV_TAKEOFF: {
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// param3 : horizontal navigation by pilot acceptable
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// param4 : yaw angle (not supported)
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@ -778,6 +779,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
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}
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return MAV_RESULT_ACCEPTED;
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case MAV_CMD_NAV_VTOL_LAND:
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case MAV_CMD_NAV_LAND:
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if (!copter.set_mode(Mode::Number::LAND, ModeReason::GCS_COMMAND)) {
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return MAV_RESULT_FAILED;
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@ -528,6 +528,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
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///
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/// navigation commands
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///
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case MAV_CMD_NAV_VTOL_TAKEOFF:
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case MAV_CMD_NAV_TAKEOFF: // 22
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do_takeoff(cmd);
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break;
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@ -536,6 +537,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
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do_nav_wp(cmd);
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break;
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case MAV_CMD_NAV_VTOL_LAND:
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case MAV_CMD_NAV_LAND: // 21 LAND to Waypoint
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do_land(cmd);
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break;
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@ -764,6 +766,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
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//
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// navigation commands
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//
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case MAV_CMD_NAV_VTOL_TAKEOFF:
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case MAV_CMD_NAV_TAKEOFF:
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cmd_complete = verify_takeoff();
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break;
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@ -772,6 +775,7 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
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cmd_complete = verify_nav_wp(cmd);
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break;
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case MAV_CMD_NAV_VTOL_LAND:
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case MAV_CMD_NAV_LAND:
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cmd_complete = verify_land();
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break;
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@ -1284,10 +1288,12 @@ bool ModeAuto::set_next_wp(const AP_Mission::Mission_Command& current_cmd, const
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get_spline_from_cmd(next_cmd, default_loc, next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
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return wp_nav->set_spline_destination_next_loc(next_dest_loc, next_next_dest_loc, next_next_dest_loc_is_spline);
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}
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case MAV_CMD_NAV_VTOL_LAND:
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case MAV_CMD_NAV_LAND:
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// stop because we may change between rel,abs and terrain alt types
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case MAV_CMD_NAV_LOITER_TURNS:
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case MAV_CMD_NAV_RETURN_TO_LAUNCH:
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case MAV_CMD_NAV_VTOL_TAKEOFF:
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case MAV_CMD_NAV_TAKEOFF:
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// always stop for RTL and takeoff commands
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default:
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