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AR_WPNav: bug fix #12119

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@IamPete1
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commented Aug 22, 2019

This is small bug (I think) fix that in combination with #12117 allows sailboats to work with the avoidance path planner, this is a example with Dijkstra's.

https://youtu.be/UzJ66stWt98

a small improvement could be made to make the Dijkstra's code work better for sailboats, It should be possible to skip intermediate points in some cases, for example here it could have jumped onto the next point and saved some tacks.

but all in all it basically 'just works'

@IamPete1 IamPete1 requested a review from rmackay9 Aug 22, 2019

@@ -62,7 +62,7 @@ class AR_WPNav {
const Location &get_oa_destination() { return _oa_destination; }

// return heading (in degrees) and cross track error (in meters) for reporting to ground station (NAV_CONTROLLER_OUTPUT message)
float wp_bearing_cd() const { return _wp_bearing_cd; }

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rmackay9 Aug 23, 2019

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This 2nd one is not a bug actually. It's not really in the mavlink spec but there are two mavlink messages that we take advantage of to show the user both the intermediate and final destination. So the "POSITION_TARGET_GLOBAL_INT" message is used to send the intermediate position. The "NAV_CONTROLLER_OUTPUT" is used to send the final position.

If necessary we can discuss with @tridge on whether we are doing the correct thing or not by using these two mavlink messages.

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@IamPete1, nice find on the first one. Can you remove the 2nd change and then I'll merge this, txs!

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commented Aug 23, 2019

I've merged in the first change and left out the 2nd one so closing, txs!

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