Cleanup: Navigator: Vehicle command refactor, FlightTaskAuto: parameter clarification

docs/en/camera/camera_architecture.md

@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
   - Mission items are executed when set active.
   - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
     - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
           - All others just get published to default component ID.
           - The `VehicleCommand` UORB topic is published.
 

docs/en/camera/mavlink_v2_camera.md

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator.publish_vehicle_command(vehicle_command);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
 

docs/ko/camera/camera_architecture.md

@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
   - Mission items are executed when set active.
   - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
     - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
           - All others just get published to default component ID.
           - The `VehicleCommand` UORB topic is published.
 

docs/ko/camera/mavlink_v2_camera.md

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(vehicle_command);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
 

docs/uk/camera/camera_architecture.md

@@ -88,9 +88,9 @@ PX4 повторно видає пункти камери, знайдені в 
   - Предмети місії виконуються, коли вони активовані.
   - `issue_command(_mission_item)` викликається в кінці цього, щоб відправити поточну непунктову команду
     - [`MissionBlock::видача_команди(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_cmd` для публікації її (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Створює команду для місії транспортного засобу, а потім викликає `publish_vehicle_command` для публікації її (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - Для деяких команд камери це встановлює ідентифікатор компонента на ідентифікатор компонента камери (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
           - Усі інші просто публікуються під стандартний компонент ID.
           - Тема UORB `VehicleCommand` публікується.
 

docs/uk/camera/mavlink_v2_camera.md

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(&vehicle_command);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
 

docs/zh/camera/camera_architecture.md

@@ -88,9 +88,9 @@ Commands supported in missions, including camera commands, are shown in these me
   - Mission items are executed when set active.
   - `issue_command(_mission_item)` is called at the end of this to send the current non-waypoint command
     - [`MissionBlock::issue_command(const mission_item_s &item)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562)
-      - Creates a vehicle command for the mission item then calls `publish_vehicle_cmd` to publish it (`_navigator->publish_vehicle_cmd(&vcmd);`)
-        - [`void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358)
-          - For some camera commands it sets the component ID to the camera component id (`vcmd->target_component = 100; // MAV_COMP_ID_CAMERA`)
+      - Creates a vehicle command for the mission item then calls `publish_vehicle_command` to publish it (`_navigator->publish_vehicle_command(vehicle_command);`)
+        - [`void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)`](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395)
+          - For some camera commands it sets the component ID to the camera component id (`vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA`)
           - All others just get published to default component ID.
           - The `VehicleCommand` UORB topic is published.
 

docs/zh/camera/mavlink_v2_camera.md

@@ -83,11 +83,11 @@ void Mission::setActiveMissionItems() => https://github.com/PX4/PX4-Autopilot/bl
 Issuing command:
 MissionBlock::issue_command(const mission_item_s &item) =>  https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/mission_block.cpp#L543-L562
   At end this publishes the current vehicle command
-  _navigator->publish_vehicle_cmd(&vcmd);
+  _navigator->publish_vehicle_command(vehicle_command);
 
 Publishing command:
-void Navigator::publish_vehicle_cmd(vehicle_command_s *vcmd)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1358
-  For camera commands set to vcmd->target_component = 100; // MAV_COMP_ID_CAMERA
+void Navigator::publish_vehicle_command(vehicle_command_s &vehicle_command)  => https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/navigator/navigator_main.cpp#L1395
+  For camera commands set to vehicle_command.target_component = 100; // MAV_COMP_ID_CAMERA
   All others just get published as-is
 -->
 

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -235,7 +235,7 @@ void FlightTaskAuto::_prepareLandSetpoints()
 	bool range_dist_available = PX4_ISFINITE(_dist_to_bottom);
 
 	if (range_dist_available && _dist_to_bottom <= _param_mpc_land_alt3.get()) {
-		vertical_speed = _param_mpc_land_crawl_speed.get();
+		vertical_speed = _param_mpc_land_crwl.get();
 	}
 
 	if (_type_previous != WaypointType::land) {

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp

@@ -165,20 +165,16 @@ class FlightTaskAuto : public FlightTask
 					(ParamFloat<px4::params::MPC_XY_TRAJ_P>) _param_mpc_xy_traj_p,
 					(ParamFloat<px4::params::MPC_XY_ERR_MAX>) _param_mpc_xy_err_max,
 					(ParamFloat<px4::params::MPC_LAND_SPEED>) _param_mpc_land_speed,
-					(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crawl_speed,
+					(ParamFloat<px4::params::MPC_LAND_CRWL>) _param_mpc_land_crwl,
 					(ParamInt<px4::params::MPC_LAND_RC_HELP>) _param_mpc_land_rc_help,
 					(ParamFloat<px4::params::MPC_LAND_RADIUS>) _param_mpc_land_radius,
-					(ParamFloat<px4::params::MPC_LAND_ALT1>)
-					_param_mpc_land_alt1, // altitude at which we start ramping down speed
-					(ParamFloat<px4::params::MPC_LAND_ALT2>)
-					_param_mpc_land_alt2, // altitude at which we descend at land speed
-					(ParamFloat<px4::params::MPC_LAND_ALT3>)
-					_param_mpc_land_alt3, // altitude where we switch to crawl speed, if LIDAR available
+					(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1,
+					(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2,
+					(ParamFloat<px4::params::MPC_LAND_ALT3>) _param_mpc_land_alt3,
 					(ParamFloat<px4::params::MPC_Z_V_AUTO_UP>) _param_mpc_z_v_auto_up,
 					(ParamFloat<px4::params::MPC_Z_V_AUTO_DN>) _param_mpc_z_v_auto_dn,
 					(ParamFloat<px4::params::MPC_TKO_SPEED>) _param_mpc_tko_speed,
-					(ParamFloat<px4::params::MPC_TKO_RAMP_T>)
-					_param_mpc_tko_ramp_t // time constant for smooth takeoff ramp
+					(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t
 				       );
 
 private:

src/modules/mc_pos_control/multicopter_takeoff_land_params.c

@@ -89,9 +89,8 @@ PARAM_DEFINE_FLOAT(MPC_LAND_ALT2, 5.f);
 /**
  * Altitude for 3. step of slow landing
  *
- * Below this altitude descending velocity gets
- * limited to "MPC_LAND_CRWL", if LIDAR available.
- * No effect if LIDAR not available
+ * If a valid distance sensor measurement to the ground is available,
+ * limit descending velocity to "MPC_LAND_CRWL" below this altitude.
  *
  * @unit m
  * @min 0

src/modules/navigator/land.cpp

@@ -109,17 +109,16 @@ Land::on_active()
 	if (_navigator->abort_landing()) {
 
 		// send reposition cmd to get out of land mode (will loiter at current position and altitude)
-		vehicle_command_s vcmd = {};
-
-		vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
-		vcmd.param1 = -1;
-		vcmd.param2 = 1;
-		vcmd.param5 = _navigator->get_global_position()->lat;
-		vcmd.param6 = _navigator->get_global_position()->lon;
+		vehicle_command_s vehicle_command{};
+		vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
+		vehicle_command.param1 = -1.f; // Default speed
+		vehicle_command.param2 = 1.f; // Modes should switch, not setting this is unsupported
+		vehicle_command.param5 = _navigator->get_global_position()->lat;
+		vehicle_command.param6 = _navigator->get_global_position()->lon;
 		// as we don't know the landing point altitude assume the worst case (abort at 0m above ground),
 		// and thus always climb MIS_LND_ABRT_ALT
-		vcmd.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
+		vehicle_command.param7 = _navigator->get_global_position()->alt + _navigator->get_landing_abort_min_alt();
 
-		_navigator->publish_vehicle_cmd(&vcmd);
+		_navigator->publish_vehicle_command(vehicle_command);
 	}
 }

src/modules/navigator/mission_base.cpp

@@ -915,16 +915,14 @@ MissionBase::do_abort_landing()
 	}
 
 	// send reposition cmd to get out of mission
-	vehicle_command_s vcmd = {};
-
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
-	vcmd.param1 = -1;
-	vcmd.param2 = 1;
-	vcmd.param5 = _mission_item.lat;
-	vcmd.param6 = _mission_item.lon;
-	vcmd.param7 = alt_sp;
-
-	_navigator->publish_vehicle_cmd(&vcmd);
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_REPOSITION;
+	vehicle_command.param1 = -1.f; // Default speed
+	vehicle_command.param2 = 1.f; // Modes should switch, not setting this is unsupported
+	vehicle_command.param5 = _mission_item.lat;
+	vehicle_command.param6 = _mission_item.lon;
+	vehicle_command.param7 = alt_sp;
+	_navigator->publish_vehicle_command(vehicle_command);
 }
 
 void MissionBase::publish_navigator_mission_item()

src/modules/navigator/mission_block.cpp

@@ -529,27 +529,27 @@ MissionBlock::issue_command(const mission_item_s &item)
 
 	// Mission item's NAV_CMD enums directly map to the according vehicle command
 	// So set the raw value directly (MAV_FRAME_MISSION mission item)
-	vehicle_command_s vcmd = {};
-	vcmd.command = item.nav_cmd;
-	vcmd.param1 = item.params[0];
-	vcmd.param2 = item.params[1];
-	vcmd.param3 = item.params[2];
-	vcmd.param4 = item.params[3];
-	vcmd.param5 = static_cast<double>(item.params[4]);
-	vcmd.param6 = static_cast<double>(item.params[5]);
-	vcmd.param7 = item.params[6];
+	vehicle_command_s vehicle_command{};
+	vehicle_command.command = item.nav_cmd;
+	vehicle_command.param1 = item.params[0];
+	vehicle_command.param2 = item.params[1];
+	vehicle_command.param3 = item.params[2];
+	vehicle_command.param4 = item.params[3];
+	vehicle_command.param5 = static_cast<double>(item.params[4]);
+	vehicle_command.param6 = static_cast<double>(item.params[5]);
+	vehicle_command.param7 = item.params[6];
 
 	if (item.nav_cmd == NAV_CMD_DO_SET_ROI_LOCATION) {
 		// We need to send out the ROI location that was parsed potentially with double precision to lat/lon because mission item parameters 5 and 6 only have float precision
-		vcmd.param5 = item.lat;
-		vcmd.param6 = item.lon;
+		vehicle_command.param5 = item.lat;
+		vehicle_command.param6 = item.lon;
 
 		if (item.altitude_is_relative) {
-			vcmd.param7 = item.altitude + _navigator->get_home_position()->alt;
+			vehicle_command.param7 = item.altitude + _navigator->get_home_position()->alt;
 		}
 	}
 
-	_navigator->publish_vehicle_cmd(&vcmd);
+	_navigator->publish_vehicle_command(vehicle_command);
 
 	if (item_has_timeout(item)) {
 		_timestamp_command_timeout = hrt_absolute_time();
@@ -781,11 +781,11 @@ MissionBlock::set_land_item(struct mission_item_s *item)
 	/* VTOL transition to RW before landing */
 	if (_navigator->force_vtol()) {
 
-		vehicle_command_s vcmd = {};
-		vcmd.command = NAV_CMD_DO_VTOL_TRANSITION;
-		vcmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-		vcmd.param2 = 0.0f;
-		_navigator->publish_vehicle_cmd(&vcmd);
+		vehicle_command_s vehicle_command{};
+		vehicle_command.command = NAV_CMD_DO_VTOL_TRANSITION;
+		vehicle_command.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
+		vehicle_command.param2 = 0.f; // normal unforced transition
+		_navigator->publish_vehicle_command(vehicle_command);
 	}
 
 	/* set the land item */

src/modules/navigator/navigator.h

@@ -132,12 +132,12 @@ class Navigator : public ModuleBase<Navigator>, public ModuleParams
 	/**
 	 * @brief Publish a given specified vehicle command
 	 *
-	 * Sets the target_component of the vehicle command accordingly depending on the
-	 * vehicle command value (e.g. For Camera control, sets target system component id)
+	 * Fill in timestamp, source and target IDs.
+	 * target_component special handling (e.g. For Camera control, set camera ID)
 	 *
-	 * @param vcmd Vehicle command to execute
+	 * @param vehicle_command Vehicle command to publish
 	 */
-	void publish_vehicle_cmd(vehicle_command_s *vcmd);
+	void publish_vehicle_command(vehicle_command_s &vehicle_command);
 
 #if CONFIG_NAVIGATOR_ADSB
 	/**