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FixedwingPositionControl: split out single waypoint following method

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makes more clearly defined interfaces and behaviors. also cleaned up the controlAutoPosition() method
This commit is contained in:
Thomas Stastny
2023-09-08 16:08:38 +02:00
parent c3012a551f
commit ad9e3d72d9
2 changed files with 50 additions and 36 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.hpp
+16 -2
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@@ -780,8 +780,8 @@ private:
/*
* Waypoint handling logic following closely to the ECL_L1_Pos_Controller
* method of the same name. Takes two waypoints and determines the relevant
* parameters for evaluating the NPFG guidance law, then updates control setpoints.
* method of the same name. Takes two waypoints, steering the vehicle to track
* the line segment between them.
*
* @param[in] waypoint_A Waypoint A (segment start) position in local coordinates. (N,E) [m]
* @param[in] waypoint_B Waypoint B (segment end) position in local coordinates. (N,E) [m]
@@ -793,6 +793,20 @@ private:
const matrix::Vector2f &vehicle_pos, const matrix::Vector2f &ground_vel,
const matrix::Vector2f &wind_vel);
/*
* Takes one waypoint and steers the vehicle towards this.
*
* NOTE: this *will lead to "flowering" behavior if no higher level state machine or
* switching condition changes the waypoint.
*
* @param[in] waypoint_pos Waypoint position in local coordinates. (N,E) [m]
* @param[in] vehicle_pos Vehicle position in local coordinates. (N,E) [m]
* @param[in] ground_vel Vehicle ground velocity vector [m/s]
* @param[in] wind_vel Wind velocity vector [m/s]
*/
void navigateWaypoint(const matrix::Vector2f &waypoint_pos, const matrix::Vector2f &vehicle_pos,
const matrix::Vector2f &ground_vel, const matrix::Vector2f &wind_vel);
/*
* Line (infinite) following logic. Two points on the line are used to define the
* line in 2D space (first to second point determines the direction). Determines the