Plane: extend support of SET_POSITION_TARGET_GLOBAL_INT #25754
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- Extend to handle position as well as altitude. - Check for non-zero velocity and acceleration - Calculate and update loiter radius and direction. - Force update of adjust_altitude_target. - Disable debug output to GCS. Signed-off-by: Rhys Mainwaring <[email protected]>
Signed-off-by: Rhys Mainwaring <[email protected]>
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Superseded by #26262 |
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This PR extends support for the mavlink handler of SET_POSITION_TARGET_GLOBAL_INT to handle position (lat, lon) setpoints as well as altitude changes. If velocity and acceleration data is provided it is used to calculate the path curvature expressed as a loiter radius and direction.
See Also
Motivation
Detail
The following control methods from
Planeare used:plane.control_mode->handle_guided_request()is passed the position setpoint.plane.mode_guided.set_radius_and_direction()is passed the radius and direction calculated from setpoint velocity and acceleration.plane.adjust_altitude_targetis called to force update the altitude, otherwise the current altitude set inset_guided_WPis used if the setpoint update rate is greater than the scheduled update rate ofadjust_altitude_target, and the plane will not achieve the desired altitude.Testing
Tasks
type_maskandcoordinate_framefields ofSET_POSITION_TARGET_GLOBAL_INT.