I am flying my quad using a companion computer and would like to land it.
Do I simply send the MAV_CMD_NAV_LAND command (https://ardupilot.org/dev/docs/copter-commands-in-guided-mode.html suggests this would work, but looking at the Ardupilot source I’m not convinced…)?
Or do I use MAV_CMD_DO_SET_MODE with COPTER_MODE_LAND?
Looking at the source code, I see that MAV_CMD_DO_SET_MODE with parameter COPTER_MODE_LAND does:
while simply sending MAV_CMD_NAV_LAND does:
Am I right in thinking these are identical? Is one better than the other? Neither allow you to set the landing parameters as here (https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_LAND_LOCAL)