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 *   Copyright (c) 2013-2016 PX4 Development Team. All rights reserved.
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 *    notice, this list of conditions and the following disclaimer.
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 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
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 *    used to endorse or promote products derived from this software
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file land.cpp
 *
 * Helper class to land at the current position
 *
 * @author Andreas Antener <andreas@uaventure.com>
 */

#include "land.h"
#include "navigator.h"

Land::Land(Navigator *navigator) :
	MissionBlock(navigator)
{
}

void
Land::on_activation()
{
	/* set current mission item to Land */
	set_land_item(&_mission_item, true);
	_navigator->get_mission_result()->finished = false;
	_navigator->set_mission_result_updated();
	reset_mission_item_reached();

	/* convert mission item to current setpoint */
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
	pos_sp_triplet->previous.valid = false;
	mission_apply_limitation(_mission_item);
	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
	pos_sp_triplet->next.valid = false;

	_navigator->set_can_loiter_at_sp(false);

	_navigator->set_position_setpoint_triplet_updated();
}

void
Land::on_active()
{
	/* for VTOL update landing location during back transition */
	if (_navigator->get_vstatus()->is_vtol &&
	    _navigator->get_vstatus()->in_transition_mode) {
		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
		pos_sp_triplet->current.lat = _navigator->get_global_position()->lat;
		pos_sp_triplet->current.lon = _navigator->get_global_position()->lon;
		_navigator->set_position_setpoint_triplet_updated();
	}


	if (_navigator->get_land_detected()->landed) {
		_navigator->get_mission_result()->finished = true;
		_navigator->set_mission_result_updated();
		set_idle_item(&_mission_item);

		struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
		_navigator->set_position_setpoint_triplet_updated();
	}
}
