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Published 20 hours ago • verified publisher icon ArduPilot

Support VTOL_LAND options

Open WickedShell opened this issue 5 years ago • 6 comments

This allows the GCS to make a NAV_VTOL_LAND either do the circle to land or a normal straight in land. It should have always been done this way instead of as a Q_OPTIONS bit, but I took the fast path originally.

This also allows us to specify a straight in approach with automatic detransition which we currently aren't supporting. The reason to not use a Q_OPTIONS bit is the same mission may want to use both a spiral landing and a specified approach heading.

WickedShell avatar Jul 21 '20 20:07 WickedShell

see also an alternative approach (pun intended) here: #14938

tridge avatar Jul 29 '20 11:07 tridge

Updated, and SITL tested. MAVLink commit is an easy thing to resolve the conflict on, but I'm actually happy with that being a blocker until the change is merged into the sub module.

WickedShell avatar Jun 30 '22 23:06 WickedShell

@WickedShell looks good, we just need to get the mavlink changes in first, then ensure the mavlink git hash points to the master HEAD in this PR thanks!

tridge avatar Jul 04 '22 23:07 tridge

Updated the MAVLink submodule now that the MAVLink repo has the message, and fixed the conflicts.

WickedShell avatar Jul 25 '22 20:07 WickedShell

@WickedShell failing lots of tests, looks like mavlink not updated correctly?

tridge avatar Jul 25 '22 23:07 tridge

@WickedShell failing lots of tests, looks like mavlink not updated correctly?

Sorry, bad rebasing, I've fixed it.

WickedShell avatar Aug 01 '22 20:08 WickedShell