Roman Bapst 077baeae52 Avoid waypoint following during backtransition which can lead to strong banking (#22642) ...

* avoid waypoint following during backtransition
- if vehicle overshoots transition, make controller track the prev/current
waypoint line, this avoids large banking maneuvers that delay the transition further

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* navigator: use SETPOINT_TYPE_LAND as setpoint type for VTOL_LAND waypoints
such that fixed wing position controller can distinguish from other types

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* FixedWingPositionControl: split vtol backtransition logic into separate method

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* review changes

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* prevent loiter when approaching vtol backtransition and invalidate previous waypoint during mission landing

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* removed unused parameter

Signed-off-by: RomanBapst <bapstroman@gmail.com>

* small renaming of transition mode

Signed-off-by: RomanBapst <bapstroman@gmail.com>

---------

Signed-off-by: RomanBapst <bapstroman@gmail.com>

2024-01-29 09:45:40 +01:00

..

GeofenceBreachAvoidance

GeofenceBreachAvoidance: remove unused variables and methods

2023-11-22 21:45:02 -05:00

MissionFeasibility

MissionFeasibilityChecker: remove below home check (#22624)

2024-01-12 09:53:14 +01:00

CMakeLists.txt

VTOL TAKEOFF: Add Config to deactivate, and deactivate on all boards except fmu_v5x and sitl.

2023-09-29 14:25:03 +02:00

geofence_params.c

Geofence: rework messaging and notification

2023-11-22 21:45:02 -05:00

geofence.cpp

mavlink-mission: Add support for opaque ids and replace update counter with it

2023-11-29 11:10:40 -05:00

geofence.h

mavlink-mission: Add support for opaque ids and replace update counter with it

2023-11-29 11:10:40 -05:00

Kconfig

VTOL TAKEOFF: Add Config to deactivate, and deactivate on all boards except fmu_v5x and sitl.

2023-09-29 14:25:03 +02:00

land.cpp

RTL/Land: set gimbal to neutral to reduce change of damage

2023-12-01 13:19:09 +01:00

land.h

navigator: remove use of final to allow extending class hierarchy

2018-03-13 17:35:15 +01:00

loiter.cpp

Remove LNDMC_ALT_MAX

2023-11-20 14:52:35 +01:00

loiter.h

Navigator: loiter: remove unnecessary _loiter_pos_set (#21776)

2023-06-30 15:40:20 +02:00

mission_base.cpp

Avoid waypoint following during backtransition which can lead to strong banking (#22642)

2024-01-29 09:45:40 +01:00

mission_base.h

rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash

2023-10-31 14:16:02 +01:00

mission_block.cpp

Avoid waypoint following during backtransition which can lead to strong banking (#22642)

2024-01-29 09:45:40 +01:00

mission_block.h

Remove LNDMC_ALT_MAX

2023-11-20 14:52:35 +01:00

mission_feasibility_checker.cpp

Geofence: rework the way to check all GF at once

2023-11-22 21:45:02 -05:00

mission_feasibility_checker.h

mission_feasibility_checker.h: remove unused Geofence class

2023-11-22 21:45:02 -05:00

mission_params.c

Navigator: Use MIS_TAKEOFF_ALT only as default, not as min

2023-09-19 10:04:30 +02:00

mission.cpp

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

2023-12-21 16:50:13 +01:00

mission.h

rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash

2023-10-31 14:16:02 +01:00

navigation.h

mavlink-mission: Add support for opaque ids and replace update counter with it

2023-11-29 11:10:40 -05:00

navigator_main.cpp

fix navigator: prevent race condition when receiving multiple commands at once

2024-01-22 12:45:54 -05:00

navigator_mode.cpp

Mission+RTL: Refactoring mission and RTL to keep them separate. RTL does all its mission related computation in its own class.

2023-09-29 14:25:03 +02:00

navigator_mode.h

Mission+RTL: Refactoring mission and RTL to keep them separate. RTL does all its mission related computation in its own class.

2023-09-29 14:25:03 +02:00

navigator_params.c

Commander/Nav params: clean up descriptions

2023-07-17 10:35:02 +02:00

navigator.h

fix navigator: prevent race condition when receiving multiple commands at once

2024-01-22 12:45:54 -05:00

precland_params.c

Parameter typo PLD_MAX_SRCH

2021-08-04 08:01:39 +02:00

precland.cpp

precland: save flash space

2022-04-04 17:26:52 +02:00

precland.h

precland: save flash space

2022-04-04 17:26:52 +02:00

rtl_base.h

RTL: Keep only the selected RTL type in memory.

2023-09-29 14:25:03 +02:00

rtl_direct_mission_land.cpp

Remove LNDMC_ALT_MAX

2023-11-20 14:52:35 +01:00

rtl_direct_mission_land.h

rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash

2023-10-31 14:16:02 +01:00

rtl_direct.cpp

Avoid waypoint following during backtransition which can lead to strong banking (#22642)

2024-01-29 09:45:40 +01:00

rtl_direct.h

[RTL] Add VTOL land approach for home with designated loiter points in the RTL mode.

2023-10-31 14:16:02 +01:00

rtl_mission_fast_reverse.cpp

Remove LNDMC_ALT_MAX

2023-11-20 14:52:35 +01:00

rtl_mission_fast_reverse.h

rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash

2023-10-31 14:16:02 +01:00

rtl_mission_fast.cpp

Remove LNDMC_ALT_MAX

2023-11-20 14:52:35 +01:00

rtl_mission_fast.h

rtl+mission: remove do_need_move_to_land and handleLanding duplicated code to reduce flash

2023-10-31 14:16:02 +01:00

rtl_params.c

[RTL] Add VTOL land approach for home with designated loiter points in the RTL mode.

2023-10-31 14:16:02 +01:00

rtl.cpp

RTL/Land: set gimbal to neutral to reduce change of damage

2023-12-01 13:19:09 +01:00

rtl.h

mavlink-mission: Add support for opaque ids and replace update counter with it

2023-11-29 11:10:40 -05:00

safe_point_land.hpp

[RTL] Add VTOL land approach for home with designated loiter points in the RTL mode.

2023-10-31 14:16:02 +01:00

takeoff.cpp

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

2023-12-21 16:50:13 +01:00

takeoff.h

navigator: remove use of final to allow extending class hierarchy

2018-03-13 17:35:15 +01:00

vtol_takeoff_params.c

Added VTOL Takeoff navigation mode (#19027)

2022-02-15 14:56:57 +01:00

vtol_takeoff.cpp

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

2023-12-21 16:50:13 +01:00

vtol_takeoff.h

Added VTOL Takeoff navigation mode (#19027)

2022-02-15 14:56:57 +01:00