AR_WPNav: bug fix #12119
Closed
AR_WPNav: bug fix #12119
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
rmackay9
reviewed
Aug 23, 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; } | |||
There was a problem hiding this comment.
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.
|
I've merged in the first change and left out the 2nd one so closing, txs! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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'