initial setup

msg/VehicleStatus.msg

@@ -49,7 +49,7 @@ uint8 NAVIGATION_STATE_OFFBOARD = 14
 uint8 NAVIGATION_STATE_STAB = 15                # Stabilized mode
 uint8 NAVIGATION_STATE_FREE1 = 16
 uint8 NAVIGATION_STATE_AUTO_TAKEOFF = 17        # Takeoff
-uint8 NAVIGATION_STATE_AUTO_LAND = 18           # Land
+uint8 NAVIGATION_STATE_LAND = 18           	# Land
 uint8 NAVIGATION_STATE_AUTO_FOLLOW_TARGET = 19  # Auto Follow
 uint8 NAVIGATION_STATE_AUTO_PRECLAND = 20       # Precision land with landing target
 uint8 NAVIGATION_STATE_ORBIT = 21               # Orbit in a circle

src/drivers/osd/atxxxx/atxxxx.cpp

@@ -402,7 +402,7 @@ OSDatxxxx::get_flight_mode(uint8_t nav_state)
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+	case vehicle_status_s::NAVIGATION_STATE_LAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
 		flight_mode = "AUTO";

src/drivers/rc/crsf_rc/CrsfRc.cpp

@@ -291,13 +291,13 @@ void CrsfRc::Run()
 					case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 					case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 					case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
-					case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+					case vehicle_status_s::NAVIGATION_STATE_LAND:
 					case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
 					case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
 						flight_mode = "Auto";
 						break;
 
-					/*case vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL:
+					/*case vehicle_status_s::NAVIGATION_STATE_LANDENGFAIL:
 						flight_mode = "Failure";
 						break;*/
 

src/drivers/rc_input/crsf_telemetry.cpp

@@ -156,7 +156,7 @@ bool CRSFTelemetry::send_flight_mode()
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
 	case vehicle_status_s::NAVIGATION_STATE_DESCEND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+	case vehicle_status_s::NAVIGATION_STATE_LAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
 		flight_mode = "Auto";

src/lib/modes/standard_modes.hpp

@@ -64,7 +64,7 @@ static inline StandardMode getStandardModeFromNavState(uint8_t nav_state)
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION: return StandardMode::MISSION;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: return StandardMode::LAND;
+	case vehicle_status_s::NAVIGATION_STATE_LAND: return StandardMode::LAND;
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: return StandardMode::TAKEOFF;
 		// Note: all other standard modes do not directly map, or are vehicle-type specific
@@ -83,7 +83,7 @@ static inline uint8_t getNavStateFromStandardMode(StandardMode mode)
 
 	case StandardMode::MISSION: return vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION;
 
-	case StandardMode::LAND: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
+	case StandardMode::LAND: return vehicle_status_s::NAVIGATION_STATE_LAND;
 
 	case StandardMode::TAKEOFF: return vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF;
 

src/lib/modes/ui.hpp

@@ -57,7 +57,7 @@ static inline uint32_t getValidNavStates()
 	       (1u << vehicle_status_s::NAVIGATION_STATE_OFFBOARD) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_STAB) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF) |
-	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) |
+	       (1u << vehicle_status_s::NAVIGATION_STATE_LAND) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND) |
 	       (1u << vehicle_status_s::NAVIGATION_STATE_ORBIT) |

src/lib/motion_planning/VelocitySmoothing.hpp

@@ -43,7 +43,6 @@ struct Trajectory {
 /**
  * @class VelocitySmoothing
  *
- * TODO: document the algorithm
  *    |T1| T2 |T3|
  *     ___
  *   __| |____   __ Jerk

src/modules/commander/Commander.cpp

@@ -831,7 +831,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_LAND:
-							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
+							desired_nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
 							break;
 
 						case PX4_CUSTOM_SUB_MODE_AUTO_FOLLOW_TARGET:
@@ -892,7 +892,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 				// as emergency mode it is always available. When triggering it the user generally wants
 				// the vehicle to descend immediately, and if that means to switch to DESCEND it is fine.
 
-				const bool force = desired_nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
+				const bool force = desired_nav_state == vehicle_status_s::NAVIGATION_STATE_LAND;
 
 				if (_user_mode_intention.change(desired_nav_state, getSourceFromCommand(cmd), false, force)) {
 					main_ret = TRANSITION_CHANGED;
@@ -1074,15 +1074,15 @@ Commander::handle_command(const vehicle_command_s &cmd)
 			// the vehicle to descend immediately, and if that means to switch to DESCEND it is fine.
 			const bool force = true;
 
-			if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, getSourceFromCommand(cmd), false,
+			if (_user_mode_intention.change(vehicle_status_s::NAVIGATION_STATE_LAND, getSourceFromCommand(cmd), false,
 							force)) {
 				mavlink_log_info(&_mavlink_log_pub, "Landing at current position\t");
 				events::send(events::ID("commander_landing_current_pos"), events::Log::Info,
 					     "Landing at current position");
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				printRejectMode(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND);
+				printRejectMode(vehicle_status_s::NAVIGATION_STATE_LAND);
 				cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
 		}

src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp

@@ -70,7 +70,7 @@ void WindChecks::checkAndReport(const Context &context, Report &reporter)
 			   && wind_limit_exceeded
 			   && warning_timeout_passed
 			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
-			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_LAND) {
 
 			events::send<float>(events::ID("check_above_wind_limits_warning"),
 			{events::Log::Warning, events::LogInternal::Warning},
@@ -81,7 +81,7 @@ void WindChecks::checkAndReport(const Context &context, Report &reporter)
 			   && wind.longerThan(_param_com_wind_warn.get())
 			   && warning_timeout_passed
 			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
-			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+			   && context.status().nav_state != vehicle_status_s::NAVIGATION_STATE_LAND) {
 
 			events::send<float>(events::ID("check_high_wind_warning"),
 			{events::Log::Warning, events::LogInternal::Info},

src/modules/commander/ModeUtil/control_mode.cpp

@@ -84,7 +84,7 @@ void getVehicleControlMode(uint8_t nav_state, uint8_t vehicle_type,
 		break;
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_RTL:
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+	case vehicle_status_s::NAVIGATION_STATE_LAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:

src/modules/commander/ModeUtil/conversions.hpp

@@ -68,7 +68,7 @@ static inline navigation_mode_t navigation_mode(uint8_t nav_state)
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF: return navigation_mode_t::auto_takeoff;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND: return navigation_mode_t::auto_land;
+	case vehicle_status_s::NAVIGATION_STATE_LAND: return navigation_mode_t::auto_land;
 
 	case vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET: return navigation_mode_t::auto_follow_target;
 

src/modules/commander/ModeUtil/mode_requirements.cpp

@@ -137,12 +137,12 @@ void getModeRequirements(uint8_t vehicle_type, failsafe_flags_s &flags)
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_position);
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF, flags.mode_req_local_alt);
 
-	// NAVIGATION_STATE_AUTO_LAND
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_angular_velocity);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_attitude);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_alt);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_local_position);
-	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_LAND, flags.mode_req_prevent_arming);
+	// NAVIGATION_STATE_LAND
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_LAND, flags.mode_req_angular_velocity);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_LAND, flags.mode_req_attitude);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_LAND, flags.mode_req_local_alt);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_LAND, flags.mode_req_local_position);
+	setRequirement(vehicle_status_s::NAVIGATION_STATE_LAND, flags.mode_req_prevent_arming);
 
 	// NAVIGATION_STATE_AUTO_FOLLOW_TARGET
 	setRequirement(vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET, flags.mode_req_angular_velocity);

src/modules/commander/failsafe/failsafe.cpp

@@ -304,7 +304,7 @@ FailsafeBase::Action Failsafe::fromOffboardLossActParam(int param_value, uint8_t
 
 	case offboard_loss_failsafe_mode::Land_mode:
 		action = Action::Land;
-		user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
+		user_intended_mode = vehicle_status_s::NAVIGATION_STATE_LAND;
 		break;
 
 	case offboard_loss_failsafe_mode::Hold_mode:
@@ -435,7 +435,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	}
 
 	// GCS connection loss
-	const bool gcs_connection_loss_ignored = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND ||
+	const bool gcs_connection_loss_ignored = state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_LAND ||
 			state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_PRECLAND || ignore_link_failsafe;
 
 	if (_param_nav_dll_act.get() != int32_t(gcs_connection_loss_failsafe_mode::Disabled) && !gcs_connection_loss_ignored) {
@@ -613,7 +613,7 @@ FailsafeBase::Action Failsafe::checkModeFallback(const failsafe_flags_s &status_
 		if (user_intended_mode == vehicle_status_s::NAVIGATION_STATE_POSCTL
 		    && !modeCanRun(status_flags, user_intended_mode)) {
 			action = Action::Land;
-			user_intended_mode = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
+			user_intended_mode = vehicle_status_s::NAVIGATION_STATE_LAND;
 
 			// Land -> Descend
 			if (!modeCanRun(status_flags, user_intended_mode)) {

src/modules/commander/failsafe/framework.cpp

@@ -567,7 +567,7 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 
 	// fallthrough
 	case Action::Land:
-		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
+		if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_LAND)) {
 			selected_action = Action::Land;
 			break;
 		}
@@ -600,9 +600,9 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s
 
 	// UX improvement (this is optional for safety): change failsafe to a warning in certain situations.
 	// If already landing, do not go into RTL
-	if (returned_state.updated_user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+	if (returned_state.updated_user_intended_mode == vehicle_status_s::NAVIGATION_STATE_LAND) {
 		if ((selected_action == Action::RTL || returned_state.delayed_action == Action::RTL)
-		    && modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) {
+		    && modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_LAND)) {
 			selected_action = Action::Warn;
 			returned_state.delayed_action = Action::None;
 		}
@@ -656,7 +656,7 @@ uint8_t FailsafeBase::modeFromAction(const Action &action, uint8_t user_intended
 
 	case Action::RTL: return vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
 
-	case Action::Land: return vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
+	case Action::Land: return vehicle_status_s::NAVIGATION_STATE_LAND;
 
 	case Action::Descend: return vehicle_status_s::NAVIGATION_STATE_DESCEND;
 

src/modules/commander/px4_custom_mode.h

@@ -162,7 +162,7 @@ static inline union px4_custom_mode get_px4_custom_mode(uint8_t nav_state)
 		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_TAKEOFF;
 		break;
 
-	case vehicle_status_s::NAVIGATION_STATE_AUTO_LAND:
+	case vehicle_status_s::NAVIGATION_STATE_LAND:
 		custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_AUTO;
 		custom_mode.sub_mode = PX4_CUSTOM_SUB_MODE_AUTO_LAND;
 		break;

src/modules/events/set_leds.cpp

@@ -79,7 +79,7 @@ void StatusDisplay::set_leds()
 	_led_control.led_mask = BOARD_REAR_LED_MASK;
 
 	if (nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_RTL
-	    || nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LAND) {
+	    || nav_state == vehicle_status_s::NAVIGATION_STATE_LAND) {
 		_led_control.color = led_control_s::COLOR_PURPLE;
 
 	} else if (nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL) {

src/modules/flight_mode_manager/CMakeLists.txt

@@ -42,6 +42,7 @@ list(APPEND flight_tasks_all
 	Auto
 	Descend
 	Failsafe
+	Land
 	ManualAcceleration
 	ManualAccelerationSlow
 	ManualAltitude

src/modules/flight_mode_manager/FlightModeManager.cpp

@@ -185,6 +185,17 @@ void FlightModeManager::start_flight_task()
 		}
 	}
 
+	// Landing
+	if (_vehicle_status_sub.get().nav_state == vehicle_status_s::NAVIGATION_STATE_LAND) {
+		found_some_task = true;
+		FlightTaskError error = switchTask(FlightTaskIndex::Land);
+
+		if (error != FlightTaskError::NoError) {
+			matching_task_running = false;
+			task_failure = true;
+		}
+	}
+
 	// Navigator interface for autonomous modes
 	if (_vehicle_control_mode_sub.get().flag_control_auto_enabled
 	    && !nav_state_descend) {

src/modules/flight_mode_manager/tasks/Land/CMakeLists.txt

@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(FlightTaskLand
+	FlightTaskLand.cpp
+)
+
+target_link_libraries(FlightTaskLand PUBLIC FlightTask FlightTaskUtility)
+target_include_directories(FlightTaskLand PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})