RTL: change when to set a heading setpoint, generally leave it up to executer #22731
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MaEtUgR
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Feb 12, 2024
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Nice. Thanks for this generally nice improvement!
The only question I have is about this DestinationPosition dest which contains a yaw. As I read it this was supposed to contain the actual heading setpoint and I would have probably gone back to this. But if we have a separate heading_sp then I'd suggest only having one way. Or make it very clear when to use which.
…the executer -remove RTL_HDG_MD -only set heading setpoint in Navigator::RTL once above landing point, or when RTL is triggered close to it -never set a heading during RTL if weather vane is enabled Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
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@sfuhrer I rebased and added a commit which I'd presume does the same without the duplication in the interface. Did I overlook something? |
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
MaEtUgR
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Feb 13, 2024
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Solved Problem
VTOLs yawing to the home position heading when descending in hover during RTL instead of weather-vaning.
Solution
Continue with what was started in #22532:
RTL_HDG_MD(necessity of it hasn't been proven and it interferes with the here proposed solution)Navigator::RTLonce above landing point, or when RTL is triggered close to itChangelog Entry
For release notes:
Test coverage
SITL tested.
Context
This is how a normal RTL with a MC looks like (the behavior doesn't change with this PR):
AMC_RTL_new_behavior.mp4