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Plane: Bugfix. Changing to landing sequence now works at mission end.

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This commit is contained in:
Michael Day 2014-10-23 20:08:20 -07:00 committed by Andrew Tridgell
parent 83c2f497a3
commit c1b949a74f
3 changed files with 28 additions and 8 deletions
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6
ArduPlane/ArduPlane.pde
View File

@ -1419,10 +1419,8 @@ static void update_navigation()
nav_controller->reached_loiter_target() &&
labs(altitude_error_cm) < 1000) {
// we've reached the RTL point, see if we have a landing sequence
if (!auto_state.checked_for_autoland &&
mission.jump_to_landing_sequence()) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Starting auto landing"));
set_mode(AUTO);
if (!auto_state.checked_for_autoland) {
jump_to_landing_sequence();
}
// prevent running the expensive jump_to_landing_sequence
// on every loop

7
ArduPlane/GCS_Mavlink.pde
View File

@ -1111,12 +1111,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_DO_LAND_START:
result = MAV_RESULT_FAILED;
// attempt to switch to next DO_LAND_START command in the mission
if (mission.jump_to_landing_sequence()) {
set_mode(AUTO);
if (jump_to_landing_sequence()) {
result = MAV_RESULT_ACCEPTED;
}
}
break;
case MAV_CMD_DO_FENCE_ENABLE:

23
ArduPlane/landing.pde
View File

@ -115,3 +115,26 @@ static void setup_landing_glide_slope(void)
// stay within the range of the start and end locations in altitude
constrain_target_altitude_location(loc, prev_WP_loc);
}
/* find the nearest landing sequence starting point (DO_LAND_START) and
* switch to that mission item. Returns false if no DO_LAND_START available.*/
static bool jump_to_landing_sequence(void) {
uint16_t land_idx = mission.get_landing_sequence_start();
if (land_idx != 0) {
set_mode(AUTO);
if (mission.set_current_cmd(land_idx)) {
//if the mission has ended it has to be restarted
if (mission.state() == AP_Mission::MISSION_STOPPED) {
mission.resume();
}
gcs_send_text_P(SEVERITY_LOW, PSTR("Landing sequence begun."));
return true;
}
}
gcs_send_text_P(SEVERITY_HIGH, PSTR("Unable to start landing sequence."));
return false;
}