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Navigator/FlightTaskAuto yaw handling improvements/simplifications (#22532)

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* PositionSetpoint: remove yaw_valid field

* Navigator: set yaw setpoint to NAN for Takeoff

Don't set a yaw setpoint for takeoff, as Navigator doesn't handle the yaw reset.
The yaw setpoint generation is handled by FlightTaskAuto.

* PositionSetpoint.msg: remove disable_weather_vane and instead only use the yaw field

Strictly follow the concept that if the position_setpoint.yaw is set, then
follow it the controller, and otherwise let the controller set it as it
thinks it's best.

* Navigator: remove logic that sets yaw to be accepted in TAKEOFF

No longer needed as during Takeoff we anyway don't set a yaw setpoint.

* PositionSetpoint.msg: remove yawspeed_valid

* PositionSetpoint.msg: remove yawspeed

* Navigator: set yaw setpoint to NAN instead of current

In set_takeoff and set_land_item, as well as for VTOL transition.
The flight tasks then set the yaw corresponding to the current yaw.

* Navigator: change get_yaw_acceptance into a bool

* PositionSetpoint.msg: improve comment for yaw

* MissionBlock: remove unnecessary code from set_vtol_transition_item

* Navigator: clean up calculate_breaking_stop(), set yaw to NAN

* Navigator: set yaw to NAN in variouls places where not specifc setpoint is desired

* Navigator: set yaw to NAN in reset_position_setpoint()

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
This commit is contained in:
Silvan Fuhrer
2023-12-21 16:50:13 +01:00
committed by GitHub
co-authored by Matthias Grob
parent d872ef87da
commit 7e22b47b85
9 changed files with 38 additions and 90 deletions
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msg/PositionSetpoint.msg
+1 -7
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@@ -22,11 +22,7 @@ float32 vz # local velocity setpoint in m/s in NED
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid # true if yaw setpoint valid
float32 yawspeed # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid # true if yawspeed setpoint valid
float32 yaw # yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
float32 loiter_radius # loiter major axis radius in m
float32 loiter_minor_radius # loiter minor axis radius (used for non-circular loiter shapes) in m
@@ -39,5 +35,3 @@ float32 acceptance_radius # navigation acceptance_radius if we're doing waypoi
float32 cruising_speed # the generally desired cruising speed (not a hard constraint)
bool gliding_enabled # commands the vehicle to glide if the capability is available (fixed wing only)
float32 cruising_throttle # the generally desired cruising throttle (not a hard constraint), only has an effect for rover
bool disable_weather_vane # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind