wip..add entry checks

ArduPilot · Nov 27, 2024 · 5c98d37 · 5c98d37
1 parent 6f02b50
commit 5c98d37
Show file tree

Hide file tree

Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/ArduPlane/mode_autoland.cpp b/ArduPlane/mode_autoland.cpp
@@ -35,7 +35,22 @@ ModeAutoLand::ModeAutoLand() :
 
 bool ModeAutoLand::_enter()
 {
-    //is flying check here and DO_LAND_START check here
+    //must be flying to enter
+    if (!plane.is_flying()) { 
+        return false;
+    }
+
+    //if do_land_start exists, jump to it
+    if( (plane.mission.contains_item(MAV_CMD_DO_LAND_START)) && (plane.arming.is_armed())) {
+        if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) {
+                    // switch to AUTO
+                    plane.mission.set_force_resume(true);
+                    if (plane.set_mode(plane.mode_auto, ModeReason::FIXED_WING_AUTOLAND)) {
+                        return true;
+                    }
+        }
+    }
+
     plane.prev_WP_loc = plane.current_loc;
     const Location &home = ahrs.get_home();
     plane.set_target_altitude_current();

diff --git a/libraries/AP_Vehicle/ModeReason.h b/libraries/AP_Vehicle/ModeReason.h
@@ -71,4 +71,5 @@ enum class ModeReason : uint8_t {
   MODE_TAKEOFF_FAILSAFE = 51,
   DDS_COMMAND = 52,
   AUX_FUNCTION = 53,
+  FIXED_WING_AUTOLAND = 54,
 };