Copter: loiter-turns fix #17142
Merged
Copter: loiter-turns fix #17142
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
This was referenced Apr 11, 2021
|
I've flown it. All good! |
|
Merged, thanks! |
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Outdated suggestions cannot be applied.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 fixes Auto flying LOITER_TURNS mission command with a lat,lon,alt specified and resolves issue: #17126
The problem was that we were passing the loiter-turns lat,lon,alt to SCurves as the "next" destination. This is incorrect because the vehicle will never actually travel to the lat,lon,alt within the loiter-turns command. Instead it will fly to that location + circle radius.
The easy solution is just to not pass the loiter-turns command location to SCurves which is what this PR does. A future enhancement would be to actually calculate where the edge of the circle will be and pass that into SCurves. This would avoid a stop at the waypoint before the loiter-turns command.
This has been tested in SITL and below is a picture of a Copter flying a circle. Previously it would get stuck after having flown to the center of the circle.
