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Plane: Added support for MAV_CMD_DO_LAND_START

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Michael Day 2014-10-17 10:35:05 -07:00 committed by Andrew Tridgell
parent ea91f4d47b
commit fe43ae538f
2 changed files with 14 additions and 0 deletions
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13
ArduPlane/GCS_Mavlink.pde
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@ -1109,6 +1109,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_DO_LAND_START:
result = MAV_RESULT_FAILED;
//no reason to AUTO land in MANUAL mode.
if (control_mode == MANUAL) {
break;
}
//attempt to switch to next DO_LAND_START command in the mission
if (mission.jump_to_landing_sequence()) {
result = MAV_RESULT_ACCEPTED;
}
break;
case MAV_CMD_DO_FENCE_ENABLE:
result = MAV_RESULT_ACCEPTED;

1
ArduPlane/commands_logic.pde
View File

@ -233,6 +233,7 @@ static bool verify_command(const AP_Mission::Mission_Command& cmd) // Ret
case MAV_CMD_DO_MOUNT_CONFIGURE:
case MAV_CMD_DO_MOUNT_CONTROL:
case MAV_CMD_DO_INVERTED_FLIGHT:
case MAV_CMD_DO_LAND_START:
return true;
default: