/**
* @brief execute land
*/
void plan_run_land()
{
PathDesiredEndData pathDesiredEnd;
PathDesiredEndGet(&pathDesiredEnd);
PositionStateDownGet(&pathDesiredEnd.Down);
pathDesiredEnd.Down += 5;
PathDesiredEndSet(&pathDesiredEnd);
}
/**
* @brief execute land
*/
void plan_run_land()
{
float downPos, descendspeed;
PathDesiredEndData pathDesiredEnd;
PositionStateDownGet(&downPos); // current down position
PathDesiredEndGet(&pathDesiredEnd); // desired position
PathDesiredEndingVelocityGet(&descendspeed);
// desired position is updated to match the desired descend speed but don't run ahead
// too far if the current position can't keep up. This normaly means we have landed.
if (pathDesiredEnd.Down - downPos < 10) {
pathDesiredEnd.Down += descendspeed * PIOS_DELTATIME_GetAverageSeconds(&landdT);
}
PathDesiredEndSet(&pathDesiredEnd);
}