Navigator: fix VTOL land waypoint calculation #22773
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The setpoint.yaw can be NAN, and this made the calculated land point NAN as well. Looking at the current yaw is anyway a better way to approximate the course over ground that fundamentally should be used. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
MaEtUgR
approved these changes
Feb 19, 2024
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That works yes.
Would it be an exageration to check if there is a yaw setpoint and use it if it's not NAN? I'd prefer that because otherwise you often have these constantly slightly changing altitudes and yaws when you switch in and out of things. Maybe it's a detail and should be improved later.
Never mind, what I wrote would apply for multicopter 🤦♂️ |
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The setpoint.yaw can be NAN, and this made the calculated land point NAN as well. Looking at the current yaw is anyway a better way to approximate the course over ground that fundamentally should be used.
NB As we only need a rough idea of the current course over ground, I think it's not worth to calculate it by using the ground velocity, as then we'd have instabilities when approaching 0 ground speed.
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