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navigator: deactivate line following after backt-ransition and before landing 

- especially when there are strong winds it's better to just go straight
to the landing point instead of trying to follow the planned path

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2020-02-25 11:07:58 +03:00 committed by Lorenz Meier
parent b63f756745
commit 68f27ba7b7
1 changed files with 8 additions and 0 deletions
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8
src/modules/navigator/mission.cpp
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@ -883,6 +883,10 @@ Mission::set_mission_items()
_mission_item.altitude_is_relative = false;
new_work_item_type = WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION;
// make previous setpoint invalid, such that there will be no prev-current line following
// if the vehicle drifted off the path during back-transition it should just go straight to the landing point
pos_sp_triplet->previous.valid = false;
}
/* move to landing waypoint before descent if necessary */
@ -917,6 +921,10 @@ Mission::set_mission_items()
_mission_item.autocontinue = true;
_mission_item.time_inside = 0.0f;
// make previous setpoint invalid, such that there will be no prev-current line following.
// if the vehicle drifted off the path during back-transition it should just go straight to the landing point
pos_sp_triplet->previous.valid = false;
} else if (_mission_item.nav_cmd == NAV_CMD_LAND && _work_item_type == WORK_ITEM_TYPE_DEFAULT) {
if (_mission_item.land_precision > 0 && _mission_item.land_precision < 3) {
new_work_item_type = WORK_ITEM_TYPE_PRECISION_LAND;