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Plane: utilize NAV_CONTINUE_AND_CHANGE_ALT for land abort

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when aborting a landing via mode change, check if NAV_CONTINUE_AND_CHANGE_ALT is after LAND. If so, go ahead and execute it. Else, normal behavior or check do_land_start else decrement mission index
This commit is contained in:
Tom Pittenger 2015-08-24 03:15:42 -07:00 committed by Andrew Tridgell
parent 036e1fff12
commit fc2c94f78f
1 changed files with 15 additions and 3 deletions
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18
ArduPlane/landing.cpp
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@ -249,14 +249,26 @@ bool Plane::restart_landing_sequence()
uint16_t do_land_start_index = mission.get_landing_sequence_start();
uint16_t prev_cmd_with_wp_index = mission.get_prev_nav_cmd_with_wp_index();
bool success = false;
uint16_t current_index = mission.get_current_nav_index();
AP_Mission::Mission_Command cmd;
if (do_land_start_index != 0 &&
mission.set_current_cmd(do_land_start_index))
if (mission.read_cmd_from_storage(current_index+1,cmd) &&
cmd.id == MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT &&
(cmd.p1 == 0 || cmd.p1 == 1) &&
mission.set_current_cmd(current_index+1))
{
// if the next immediate command is MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT to climb, do it
gcs_send_text_fmt(PSTR("Restarted landing sequence climbing to %dm"), cmd.content.location.alt/100);
success = true;
}
else if (do_land_start_index != 0 &&
mission.set_current_cmd(do_land_start_index))
{
// look for a DO_LAND_START and use that index
gcs_send_text_fmt(PSTR("Restarted landing via DO_LAND_START: %d"),do_land_start_index);
success = true;
} else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
}
else if (prev_cmd_with_wp_index != AP_MISSION_CMD_INDEX_NONE &&
mission.set_current_cmd(prev_cmd_with_wp_index))
{
// if a suitable navigation waypoint was just executed, one that contains lat/lng/alt, then