Replaced home command with land command.

src/uas/UAS.cc

@@ -249,9 +249,9 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
         switch (message.compid)
         {
-        case MAV_COMP_ID_IMU_2:
+        case MAV_COMP_ID_IMU:
             // Prefer IMU 2 over IMU 1 (FIXME)
-            componentID[message.msgid] = MAV_COMP_ID_IMU_2;
+            componentID[message.msgid] = MAV_COMP_ID_IMU;
             break;
         default:
             // Do nothing
@@ -2236,7 +2236,7 @@ void UAS::go()
     sendMessage(msg);
 }
 
-/** Order the robot to return home / to land on the runway **/
+/** Order the robot to return home **/
 void UAS::home()
 {
     mavlink_message_t msg;
@@ -2250,6 +2250,15 @@ void UAS::home()
     sendMessage(msg);
 }
 
+/** Order the robot to land on the runway **/
+void UAS::land()
+{
+    mavlink_message_t msg;
+
+    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_LAND, 1, 0, 0, 0, 0, 0, 0, 0);
+    sendMessage(msg);
+}
+
 /**
  * The MAV starts the emergency landing procedure. The behaviour depends on the onboard implementation
  * and might differ between systems.

src/uas/UAS.h

@@ -511,8 +511,10 @@ public slots:
     //void setWaypoint(Waypoint* wp); FIXME tbd
     /** @brief Set currently active waypoint */
     //void setWaypointActive(int id); FIXME tbd
-    /** @brief Order the robot to return home / to land on the runway **/
+    /** @brief Order the robot to return home **/
     void home();
+    /** @brief Order the robot to land **/
+    void land();
     void halt();
     void go();
 

src/uas/UASInterface.h

@@ -237,6 +237,8 @@ public slots:
     //virtual void setWaypointActive(int wp) = 0;
     /** @brief Order the robot to return home / to land on the runway **/
     virtual void home() = 0;
+    /** @brief Order the robot to land **/
+    virtual void land() = 0;
     /** @brief Halt the system */
     virtual void halt() = 0;
     /** @brief Start/continue the current robot action */

src/ui/uas/UASView.cc

@@ -109,7 +109,7 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(m_ui->liftoffButton, SIGNAL(clicked()), uas, SLOT(launch()));
     connect(m_ui->haltButton, SIGNAL(clicked()), uas, SLOT(halt()));
     connect(m_ui->continueButton, SIGNAL(clicked()), uas, SLOT(go()));
-    connect(m_ui->landButton, SIGNAL(clicked()), uas, SLOT(home()));
+    connect(m_ui->landButton, SIGNAL(clicked()), uas, SLOT(land()));
     connect(m_ui->abortButton, SIGNAL(clicked()), uas, SLOT(emergencySTOP()));
     connect(m_ui->killButton, SIGNAL(clicked()), uas, SLOT(emergencyKILL()));
     connect(m_ui->shutdownButton, SIGNAL(clicked()), uas, SLOT(shutdown()));