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handle line segment termination in navigator

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- if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt)
- sync navigator and fw pos ctrl waypoint acceptance altitude
This commit is contained in:
Thomas Stastny
2022-01-11 14:10:59 +01:00
committed by Silvan Fuhrer
parent 8a01135a93
commit f8c2ee73db
3 changed files with 38 additions and 4 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -994,7 +994,7 @@ FixedwingPositionControl::handle_setpoint_type(const uint8_t setpoint_type, cons
// POSITION: achieve position setpoint altitude via loiter
// close to waypoint, but altitude error greater than twice acceptance
if ((!_vehicle_status.in_transition_mode) && (dist >= 0.f)
&& (dist_z > 2.f * _param_fw_clmbout_diff.get())
&& (dist_z > _param_nav_fw_alt_rad.get())
&& (dist_xy < 2.f * math::max(acc_rad, loiter_radius_abs))) {
// SETPOINT_TYPE_POSITION -> SETPOINT_TYPE_LOITER
position_sp_type = position_setpoint_s::SETPOINT_TYPE_LOITER;