// verify_land - returns true if landing has been completed
bool Copter::verify_land()
{
    bool retval = false;

    switch (land_state) {
        case LandStateType_FlyToLocation:
            // check if we've reached the location
            if (wp_nav.reached_wp_destination()) {
                // get destination so we can use it for loiter target
                Vector3f dest = wp_nav.get_wp_destination();

                // initialise landing controller
                auto_land_start(dest);

                // advance to next state
                land_state = LandStateType_Descending;
            }
            break;

        case LandStateType_Descending:
            // rely on THROTTLE_LAND mode to correctly update landing status
            retval = ap.land_complete;
            break;

        default:
            // this should never happen
            // TO-DO: log an error
            retval = true;
            break;
    }

    // true is returned if we've successfully landed
    return retval;
}
示例#2
0
// do_land - initiate landing procedure
void Copter::do_land(const AP_Mission::Mission_Command& cmd)
{
    // To-Do: check if we have already landed

    // if location provided we fly to that location at current altitude
    if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
        // set state to fly to location
        land_state = LAND_STATE_FLY_TO_LOCATION;

        // convert to location class
        Location_Class target_loc(cmd.content.location);

        // decide if we will use terrain following
        int32_t curr_terr_alt_cm, target_terr_alt_cm;
        if (current_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) &&
            target_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) {
            curr_terr_alt_cm = MAX(curr_terr_alt_cm,200);
            // if using terrain, set target altitude to current altitude above terrain
            target_loc.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN);
        } else {
            // set target altitude to current altitude above home
            target_loc.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
        }
        auto_wp_start(target_loc);
    }else{
        // set landing state
        land_state = LAND_STATE_DESCENDING;

        // initialise landing controller
        auto_land_start();
    }
}
示例#3
0
// auto_land_start - initialises controller to implement a landing
void Copter::auto_land_start()
{
    // set target to stopping point
    Vector3f stopping_point;
    wp_nav.get_loiter_stopping_point_xy(stopping_point);

    // call location specific land start function
    auto_land_start(stopping_point);
}
// do_land - initiate landing procedure
void Copter::do_land(const AP_Mission::Mission_Command& cmd)
{
    // To-Do: check if we have already landed

    // if location provided we fly to that location at current altitude
    if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
        // set state to fly to location
        land_state = LandStateType_FlyToLocation;

        Location_Class target_loc = terrain_adjusted_location(cmd);

        auto_wp_start(target_loc);
    }else{
        // set landing state
        land_state = LandStateType_Descending;

        // initialise landing controller
        auto_land_start();
    }
}
示例#5
0
// do_land - initiate landing procedure
void Copter::do_land(const AP_Mission::Mission_Command& cmd)
{
    // To-Do: check if we have already landed

    // if location provided we fly to that location at current altitude
    if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
        // set state to fly to location
        land_state = LAND_STATE_FLY_TO_LOCATION;

        // calculate and set desired location above landing target
        Vector3f pos = pv_location_to_vector(cmd.content.location);
        pos.z = inertial_nav.get_altitude();
        auto_wp_start(pos);
    }else{
        // set landing state
        land_state = LAND_STATE_DESCENDING;

        // initialise landing controller
        auto_land_start();
    }
}