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fixed-wing landing abort: disable early landing config during a landing abort 

previously, the next position setpoint in the triplet was left unchanged during an abort, which meant that the abort loiter current point combined with land next point triggered the early landing config logic. this commit is only a hack to make things work temporarily.. this needs to be handled better.
This commit is contained in:
Thomas Stastny 2022-10-28 23:23:06 +02:00 committed by Daniel Agar
parent 08ba5d762f
commit 0fc35ef082
1 changed files with 8 additions and 0 deletions
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8
src/modules/navigator/mission.cpp
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@ -1460,6 +1460,14 @@ Mission::do_abort_landing()
mission_apply_limitation(_mission_item);
mission_item_to_position_setpoint(_mission_item, &_navigator->get_position_setpoint_triplet()->current);
// XXX: this is a hack to invalidate the "next" position setpoint for the fixed-wing position controller during
// the landing abort hold. otherwise, the "next" setpoint would still register as a "LAND" point, and trigger
// the early landing configuration (flaps and landing airspeed) during the hold.
_navigator->get_position_setpoint_triplet()->next.lat = NAN;
_navigator->get_position_setpoint_triplet()->next.lon = NAN;
_navigator->get_position_setpoint_triplet()->next.alt = NAN;
publish_navigator_mission_item(); // for logging
_navigator->set_position_setpoint_triplet_updated();