implement GUIDED_HEADING_TYPE default mavlink message #28527
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Follow up to the MAVLink PR ArduPilot/mavlink#372 which adds the implementation. How does this look @peterbarker , @IamPete1 ? |
IamPete1
reviewed
Nov 6, 2024
| // MAV_RESULT_DENIED means Command is invalid (is supported but has invalid parameters). | ||
| return MAV_RESULT_DENIED; | ||
| } | ||
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| plane.g2.guidedHeading.reset_I(); | ||
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| plane.guided_state.target_heading = new_target_heading; | ||
| plane.guided_state.target_heading_accel_limit = MAX(packet.param3, 0.05f); | ||
| plane.guided_state.target_heading_accel_limit = MAX(is_zero(packet.param3)? 10.0f : packet.param3 , 10.0f); // the, previous limit of 0.05 was 0.29 degrees, not very useful |
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As per the comment @IamPete // the, previous limit of 0.05 was 0.29 degrees, not very useful
It was throttling the rate at which heading would change to very, very tiny increments that prevented the follow from being able to track the target plane.
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It's a max not a min, it's saying the lowest it can be is 0.05 but it can be larger.
Ryanf55
reviewed
Nov 7, 2024
| if ( int(packet.param1) == HEADING_TYPE_COURSE_OVER_GROUND) { // compare as nearest int | ||
| switch(HEADING_TYPE(packet.param1)) { | ||
| case HEADING_TYPE_COURSE_OVER_GROUND: | ||
| // course over ground |
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I think it's safe to remove these comments, it's obvious from the case what this is for.
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The MAVLink GUIDED_CHANGE_HEADING command will switch from the default to either HEADING_TYPE_HEADING or HEADING_TYPE_COG, but did not have a way to switch back to "default" this adds the code to implement HEADING_TYPE_DEFAULT which will switch the ArduPilot internal plane.guided_state.target_heading_type back to GUIDED_HEADING_NONE, which is the default value with it's own behavior.