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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>

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2024-01-29 11:45:40 +03:00
committed by GitHub
parent f40ede6087
commit 077baeae52
5 changed files with 109 additions and 36 deletions
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src/modules/navigator/rtl_direct.cpp
+1
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@@ -310,6 +310,7 @@ void RtlDirect::set_rtl_item()
dest.alt = loiter_altitude;
setMoveToPositionMissionItem(_mission_item, dest, rtl_heading_mode);
_navigator->reset_position_setpoint(pos_sp_triplet->previous);
_rtl_state = RTLState::LAND;