I am trying to get my drone to accurately dropoff a parcel (food in this case) and then land nearby. I have precision landing onto a single Aruco marker working however I would really like to have the drone drop something off beside Aruco marker 1, then land on marker 2 that is nearby (about 5 metres away which is the length of the rope below the drone).
Obviously I don’t want to drop the food off on top of marker 1 as the marker image then becomes obscured. I would like to use the precision landing feature because it accounts for tilt in gusty conditions.
So I do MAV_CMD_NAV_LAND to start the descent above marker 1. The food is dropped off, but I now need to fly to marker 2 to land.
I have tried doing these in SITL to try to stop the landing:
- Setting a position target in a normal Mavlink message (this works fine when not in LAND mode).
- Using MAV_CMD_NAV_GUIDED_ENABLE (don’t think this is useful but tried it anyway)
- And even using MAV_CMD_NAV_TAKEOFF
Anyone have any ideas how to abort a landing so I can navigate in order to do another landing?