ardupilot/Blimp/mode_land.cpp

#include "Blimp.h"
/*
 * Init and run calls for land flight mode
 */

bool ModeLand::init(bool ignore_checks)
{
    targ_vel.x = 0;
    targ_vel.y = 0;
    targ_vel.z = 0.5 * blimp.loiter->max_vel_z;
    return true;
}

// Runs the main land controller
void ModeLand::run()
{
    if (!blimp.position_ok()) {
        //No position/velocity, so all we can do is go down slowly.
        motors->right_out = 0;
        motors->front_out = 0;
        motors->yaw_out = 0;
        motors->down_out = 0.5;
        return;
    }

    blimp.loiter->run_vel(targ_vel, targ_vel_yaw, Vector4b{false,false,false,false}, true);
}

// set_mode_land_failsafe - sets mode to LAND
// this is always called from a failsafe so we trigger notification to pilot
void Blimp::set_mode_land_failsafe(ModeReason reason)
{
    set_mode(Mode::Number::LAND, reason);

    // alert pilot to mode change
    AP_Notify::events.failsafe_mode_change = 1;
}