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Navigator: Support straight line mission landings (#23576)

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* introduced altitude acceptance radius in position setpoint for fixed
wing guidance
- allows navigator to explicitly set the altitude acceptance radius
- needed for staright line landing support

* added ignore_alt_acceptance to position setpoint message to allow guidance
logic to ignore altitude error on waypoint
- can be useful to prevent loitering at a waypoint within a mission landing sequence

* only set altitude acceptance radius to infinity for a waypoint inside a mission landing
for fixed wing vehicles

* navigator: return altitude acceptance radius from triplet if it's valid

* FixedWingPositionControl: check if alt acceptance radius provided in position setpoint
is larger 0

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Alvaro Fernandez <alvaro@auterion.com>
This commit is contained in:
Roman Bapst
2024-09-10 17:44:24 +02:00
committed by GitHub
co-authored by Alvaro Fernandez
parent 03aec2e188
commit c94c1ce4d2
10 changed files with 75 additions and 39 deletions
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src/modules/navigator/mission_block.cpp
+4
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@@ -673,6 +673,10 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
sp->acceptance_radius = _navigator->get_default_acceptance_radius();
}
// by default, FW guidance logic will take alt acceptance from NAV_FW_ALT_RAD, in some special cases
// we override it after this
sp->alt_acceptance_radius = NAN;
sp->cruising_speed = _navigator->get_cruising_speed();
sp->cruising_throttle = _navigator->get_cruising_throttle();