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FW navigation first order hold move to position controller #15677

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merged 8 commits into from Oct 6, 2020

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dagar
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@dagar dagar commented Sep 2, 2020

Take 2 #8883

@RomanBapst
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@dagar I did some testing on this branch. I fixed a few things that seemed obviously wrong to me (see comments above). There's still an issue in the logic switching between position setpoint and loiter setpoint. It seems to constantly switch between the two. I need to dig a bit deeper.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
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@dagar Please check the commit I pushed.

loiter and position type waypoints

Signed-off-by: RomanBapst <bapstroman@gmail.com>
Signed-off-by: RomanBapst <bapstroman@gmail.com>
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@dagar I fixed a bug in the FOH logic and did some small changes to make things work. I don't really like this too much though. The main problem is that we decide to switch from a position setpoint to a loiter based on an acceptance radius. However, the loiter radius might be much bigger than the acceptance radius and so as the vehicle is trying to loiter the logic will put it back into position mode.
Currently I solved the problem by comparing acceptance radius with L1 distance and using the max of the two but that means that the FOH logic will also not work exactly as expected in some cases.

Signed-off-by: RomanBapst <bapstroman@gmail.com>
@dagar dagar marked this pull request as ready for review October 6, 2020 17:09
@@ -718,6 +720,8 @@ FixedwingPositionControl::control_position(const hrt_abstime &now, const Vector2
}
}

_type = position_sp_type;
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This should probably probably be reset for the other cases.

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dagar commented Oct 6, 2020

Thanks @RomanBapst, looks good.

@dagar dagar merged commit c01faba into master Oct 6, 2020
@dagar dagar deleted the pr-nav_foh_loiter_take2 branch October 6, 2020 20:57
dagar added a commit that referenced this pull request Dec 10, 2020
 - this was overzealously removed in #15677
sfuhrer pushed a commit that referenced this pull request Dec 11, 2020
 - this was overzealously removed in #15677
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2 participants