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Navigator/FW Position Control: VTOL front towards specified transition heading if available

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If the current yaw setpoint is valid we should use it to make the transition in this direction.
For a VTOL_TAKEOFF the yaw_setpoint is used to specify the transition direction (the
vehicle is aligned towards it and then transition is started). The current yaw can be
a bit off (e.g. because MIS_YAW_ERR is large), and it is better to track the actual setpoint.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-09-14 08:55:20 +02:00
parent 82b28bc72f
commit f9b6edab07
2 changed files with 14 additions and 4 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+7 -3
View File
@@ -871,9 +871,13 @@ FixedwingPositionControl::move_position_setpoint_for_vtol_transition(position_se
if (!PX4_ISFINITE(_transition_waypoint(0))) {
double lat_transition, lon_transition;
// create a virtual waypoint HDG_HOLD_DIST_NEXT meters in front of the vehicle which the L1 controller can track
// during the transition
waypoint_from_heading_and_distance(_current_latitude, _current_longitude, _yaw, HDG_HOLD_DIST_NEXT, &lat_transition,
// Create a virtual waypoint HDG_HOLD_DIST_NEXT meters in front of the vehicle which the L1 controller can track
// during the transition. Use the current yaw setpoint to determine the transition heading, as that one in turn
// is set to the transition heading by Navigator, or current yaw if setpoint is not valid.
const float transition_heading = PX4_ISFINITE(current_sp.yaw) ? current_sp.yaw : _yaw;
waypoint_from_heading_and_distance(_current_latitude, _current_longitude, transition_heading, HDG_HOLD_DIST_NEXT,
&lat_transition,
&lon_transition);
_transition_waypoint(0) = lat_transition;
src/modules/navigator/mission_block.cpp
+7 -1
View File
@@ -887,7 +887,13 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_
item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
item->params[0] = (float) new_mode;
item->params[1] = 0.0f;
item->yaw = _navigator->get_local_position()->heading; // ideally that would be course and not heading
// Keep yaw from previous mission item if valid, as that is containing the transition heading.
// If not valid use current yaw as yaw setpoint
if (!PX4_ISFINITE(item->yaw)) {
item->yaw = _navigator->get_local_position()->heading; // ideally that would be course and not heading
}
item->autocontinue = true;
}