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fix(navigator): honor NAV_LAND mission item abort altitude (param1) #27454

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Merged
dakejahl merged 2 commits into from
Jun 3, 2026
Merged

fix(navigator): honor NAV_LAND mission item abort altitude (param1) #27454

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6f63cf1
fix(navigator): honor NAV_LAND mission item abort altitude (param1)
anoshyn May 24, 2026
3b17088
fix(navigator): clarify land abort altitude storage
anoshyn May 30, 2026
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6 changes: 4 additions & 2 deletions src/modules/mavlink/mavlink_mission.cpp
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Expand Up @@ -1471,7 +1471,9 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *

case MAV_CMD_NAV_LAND:
mission_item->nav_cmd = NAV_CMD_LAND;
// TODO: abort alt param1
// param1 is the minimum abort altitude above the landing point (0 = use the
// MIS_LND_ABRT_ALT default). Carry it in the otherwise-unused time_inside field.
mission_item->time_inside = mavlink_mission_item->param1;
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mission_item->yaw = wrap_2pi(math::radians(mavlink_mission_item->param4));
mission_item->land_precision = mavlink_mission_item->param2;
break;
Expand Down Expand Up @@ -1802,7 +1804,7 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
break;

case NAV_CMD_LAND:
// TODO: param1 abort alt
mavlink_mission_item->param1 = mission_item->time_inside; // minimum abort altitude (0 = default)
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mavlink_mission_item->param2 = mission_item->land_precision;
mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
break;
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12 changes: 10 additions & 2 deletions src/modules/navigator/mission_base.cpp
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Expand Up @@ -873,8 +873,16 @@ MissionBase::do_abort_landing()
}

const float alt_landing = get_absolute_altitude_for_item(_mission_item);
const float alt_sp = math::max(alt_landing + _navigator->get_landing_abort_min_alt(),
_global_pos_sub.get().alt);

// Use the landing item's per-item abort altitude (NAV_CMD_LAND param1, carried in time_inside)
// if specified, otherwise fall back to the global MIS_LND_ABRT_ALT parameter.
float abort_min_alt = _navigator->get_landing_abort_min_alt();

if (_mission_item.time_inside > FLT_EPSILON) {
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abort_min_alt = _mission_item.time_inside;
}

const float alt_sp = math::max(alt_landing + abort_min_alt, _global_pos_sub.get().alt);

// turn current landing waypoint into an indefinite loiter
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
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2 changes: 2 additions & 0 deletions src/modules/navigator/mission_params.yaml
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Expand Up @@ -92,6 +92,8 @@ parameters:
long: |-
Minimum altitude above landing point that the vehicle will climb to after an aborted landing.
Then vehicle will loiter in this altitude until further command is received.
Used as the default when the landing mission item does not specify its own abort altitude
(MAV_CMD_NAV_LAND param1).
Only applies to fixed-wing vehicles.
type: int32
default: 30
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