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Navigator Mission RTL (#8749)

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* Add return to land to mission

This method uses the planned mission for rtl. If a landing sequence
is present it will continue the mission and land. If not it will
fly back the mission and loiter/land at the home position.
This commit is contained in:
Florian Achermann
2018-05-27 18:07:06 +02:00
committed by Daniel Agar
parent fdfa764913
commit 84578748f4
11 changed files with 793 additions and 348 deletions
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6
msg/mission_result.msg
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@@ -1,3 +1,7 @@
uint8 MISSION_EXECUTION_MODE_NORMAL = 0 # Execute the mission according to the planned items
uint8 MISSION_EXECUTION_MODE_REVERSE = 1 # Execute the mission in reverse order, ignoring commands and converting all waypoints to normal ones
uint8 MISSION_EXECUTION_MODE_FAST_FORWARD = 2 # Execute the mission as fast as possible, for example converting loiter waypoints to normal ones
uint32 instance_count # Instance count of this mission. Increments monotonically whenever the mission is modified
int32 seq_reached # Sequence of the mission item which has been reached, default -1
@@ -15,3 +19,5 @@ bool flight_termination # true if the navigator demands a flight termination fr
bool item_do_jump_changed # true if the number of do jumps remaining has changed
uint16 item_changed_index # indicate which item has changed
uint16 item_do_jump_remaining # set to the number of do jumps remaining for that item
uint8 execution_mode # indicates the mode in which the mission is executed