fix: use external precland if available during missions #23625
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asimopunov
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Where's the description? What is the problem we're solving? |
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Ah I see, so the issue is that the landing within a mission navigator is doing that internally and not switch the mode. I assume to some extent that's done to support landing and taking off again in the same mission. If you switch mode the mission will not continue anymore.
I'm not generally opposed but I'd check what the solution is for e.g. RTL at the end of a mission or switching to hold at the end of a takeoff. I'd avoid sending a vehicle command to switch mode if there's a nicer solution somewhere else.
Have you tested that the internal precision land still works or we fail in some cases e.g. does it still do precision land in RTL not just mission?
| @@ -1004,12 +1030,16 @@ void MissionBlock::startPrecLand(uint16_t land_precision) | |||
| { | |||
| if (_mission_item.land_precision == 1) { | |||
| _navigator->get_precland()->set_mode(PrecLandMode::Opportunistic); | |||
| _navigator->get_precland()->on_activation(); | |||
| send_vehicle_command(vehicle_command_s::VEHICLE_CMD_DO_SET_MODE, 1, PX4_CUSTOM_MAIN_MODE_AUTO, | |||
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So as part of the mission we send a vehicle command to commander such that it switches mode? That's not a nice solution because it basically tells the state machine the user commanded a landing 🤔
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So as part of the mission we send a vehicle command to commander such that it switches mode?
Yes, the assumption is that you're at the end of the mission or RTL so you can just exit the mode.
It also tells the user in QGC that they are now in precision land so that's a small bonus.
That's not a nice solution because it basically tells the state machine the user commanded a landing
yea, it's the quick way.
I think the src id and compid would still be the fmu and dmesg would say from internal command instead of external. I can double check. So we can still know it didn't come from a control station or from any external mavlink command.
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However, it would show up in the ulog the same as a commander precland shell command.
Good point. That's something I didn't test. Maybe I can find a way to continue the mission if it broke.
Yes, that's tested. The expectation is that normal land and internal precland will still work for missions and RTL. |
Co-authored-by: Matthias Grob <maetugr@gmail.com>
I'm not sure I understood that part. What's the issue in those cases if the mode switches from mission to precland? |
When using a land mission item and enabling precision land, only the internal px4 precision land mode can be triggered. However, we need a way to use an external precision land mode that replaces the internal one within an uploaded mission. Currently, that is impossible, and the user would have to switch out of mission mode into precision land mode on their own.