fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 16:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Avoid waypoint following during backtransition which can lead to strong banking (#22642)

Browse Source 
* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* FixedWingPositionControl: split vtol backtransition logic into separate method

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* review changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* removed unused parameter

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* small renaming of transition mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2024-01-29 09:45:40 +01:00
committed by GitHub
parent f40ede6087
commit 077baeae52
5 changed files with 109 additions and 36 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/mission_base.cpp
-4
View File
@@ -574,10 +574,6 @@ void MissionBase::handleLanding(WorkItemType &new_work_item_type, mission_item_s
set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
new_work_item_type = WorkItemType::WORK_ITEM_TYPE_MOVE_TO_LAND_AFTER_TRANSITION;
// make previous setpoint invalid, such that there will be no prev-current line following
// if the vehicle drifted off the path during back-transition it should just go straight to the landing point
_navigator->reset_position_setpoint(pos_sp_triplet->previous);
}
} else if (needs_to_land) {