land.cpp

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/**
 * @file land.cpp
 *
 * Helper class to land at the current position
 *
 * @author Andreas Antener <andreas@uaventure.com>
 */

#include "land.h"
#include "navigator.h"

Land::Land(Navigator *navigator) :
    MissionBlock(navigator)
{
}

void
Land::on_activation()
{
    /* set current mission item to Land */
    set_land_item(&_mission_item, true);
    _navigator->get_mission_result()->finished = false;
    _navigator->set_mission_result_updated();
    reset_mission_item_reached();

    /* convert mission item to current setpoint */
    struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
    pos_sp_triplet->previous.valid = false;
    mission_apply_limitation(_mission_item);
    mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
    pos_sp_triplet->next.valid = false;

    _navigator->set_can_loiter_at_sp(false);

    _navigator->set_position_setpoint_triplet_updated();
}

void
Land::on_active()
{
    /* for VTOL update landing location during back transition */
    if (_navigator->get_vstatus()->is_vtol &&
        _navigator->get_vstatus()->in_transition_mode) {
        struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
        pos_sp_triplet->current.lat = _navigator->get_global_position()->lat;
        pos_sp_triplet->current.lon = _navigator->get_global_position()->lon;
        _navigator->set_position_setpoint_triplet_updated();
    }


    if (_navigator->get_land_detected()->landed) {
        _navigator->get_mission_result()->finished = true;
        _navigator->set_mission_result_updated();
        set_idle_item(&_mission_item);

        struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
        mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
        _navigator->set_position_setpoint_triplet_updated();
    }
}