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

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* 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
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src/modules/navigator/mission_block.cpp
+2 -1
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@@ -110,7 +110,8 @@ MissionBlock::is_mission_item_reached_or_completed()
if (int(_mission_item.params[0]) == 3) {
// transition to RW requested, only accept waypoint if vehicle state has changed accordingly
return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
return _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& !_navigator->get_vstatus()->in_transition_mode;
} else if (int(_mission_item.params[0]) == 4) {
// transition to FW requested, only accept waypoint if vehicle state has changed accordingly