Plane: pass current location to mission landing methods

ArduPilot · Apr 2, 2024 · afec757 · afec757
1 parent 77ef4eb
commit afec757
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -701,7 +701,7 @@ bool Plane::trigger_land_abort(const float climb_to_alt_m)
         plane.is_land_command(mission_id);
     if (is_in_landing) {
         // fly a user planned abort pattern if available
-        if (plane.mission.jump_to_abort_landing_sequence()) {
+        if (plane.have_position && plane.mission.jump_to_abort_landing_sequence(plane.current_loc)) {
             return true;
         }
 

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
@@ -1065,7 +1065,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_int_packet(const mavlink_command_in
 
     case MAV_CMD_DO_LAND_START:
         // attempt to switch to next DO_LAND_START command in the mission
-        if (plane.mission.jump_to_landing_sequence()) {
+        if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) {
             plane.set_mode(plane.mode_auto, ModeReason::GCS_COMMAND);
             return MAV_RESULT_ACCEPTED;
         }

diff --git a/ArduPlane/events.cpp b/ArduPlane/events.cpp
@@ -269,14 +269,14 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
                 already_landing = true;
             }
 #endif
-            if (!already_landing) {
+            if (!already_landing && plane.have_position) {
                 // never stop a landing if we were already committed
-                if (plane.mission.is_best_land_sequence()) {
+                if (plane.mission.is_best_land_sequence(plane.current_loc)) {
                     // continue mission as it will reach a landing in less distance
                     plane.mission.set_in_landing_sequence_flag(true);
                     break;
                 }
-                if (plane.mission.jump_to_landing_sequence()) {
+                if (plane.mission.jump_to_landing_sequence(plane.current_loc)) {
                     plane.set_mode(mode_auto, ModeReason::BATTERY_FAILSAFE);
                     break;
                 }
@@ -293,7 +293,7 @@ void Plane::handle_battery_failsafe(const char *type_str, const int8_t action)
 #endif
             if (!already_landing) {
                 // never stop a landing if we were already committed
-                if (g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START && plane.mission.is_best_land_sequence()) {
+                if ((g.rtl_autoland == RtlAutoland::RTL_IMMEDIATE_DO_LAND_START) && plane.have_position && plane.mission.is_best_land_sequence(plane.current_loc)) {
                     // continue mission as it will reach a landing in less distance
                     plane.mission.set_in_landing_sequence_flag(true);
                     break;

diff --git a/ArduPlane/mode_rtl.cpp b/ArduPlane/mode_rtl.cpp
@@ -102,7 +102,7 @@ void ModeRTL::navigate()
             labs(plane.altitude_error_cm) < 1000))
             {
                 // we've reached the RTL point, see if we have a landing sequence
-                if (plane.mission.jump_to_landing_sequence()) {
+                if (plane.have_position && plane.mission.jump_to_landing_sequence(plane.current_loc)) {
                     // switch from RTL -> AUTO
                     plane.mission.set_force_resume(true);
                     if (plane.set_mode(plane.mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND)) {